/***************************************************
This is an example for our Adafruit 16-channel PWM & Servo driver
Servo test - this will drive 16 servos, one after the other
Pick one up today in the adafruit shop!
------> http://www.adafruit.com/products/815
These displays use I2C to communicate, 2 pins are required to
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, all text above must be included in any redistribution
****************************************************/
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// Depending on your servo make, the pulse width min and max may vary, you
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 560 // this is the 'maximum' pulse length count (out of 4096)
// our servo # counter
uint8_t servonum = 0;
// Make sure this is set to the correct number of servos and that your python code matches
#define BUFSIZE 9
//int pos;
volatile byte servoBuf[BUFSIZE];
void setup() {
Serial.begin(9600);
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
}
// you can use this function if you'd like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. its not precise!
void setServoPulse(uint8_t n, double pulse) {
double pulselength;
pulselength = 1000000; // 1,000,000 us per second
pulselength /= 60; // 60 Hz
pulselength /= 4096; // 12 bits of resolution
pulse *= 1000;
pulse /= pulselength;
pwm.setPWM(n, 0, pulse);
}
void loop() {
if (Serial.available())
{
//pos = Serial.read();
byte b = Serial.read();
Serial.print("I got: ");
Serial.println(b);
// if the starting token start over counter
if (b == 255) {
servonum = 0;
Serial.println("servonum = 0");
}
// otherwise put servo position in buffer
else {
servoBuf[servonum] = b;
servonum++;
if (servonum == BUFSIZE) {
for (int i=0; i<BUFSIZE; i++) {
uint16_t pulselen = map(servoBuf[i], 0, 180, SERVOMIN, SERVOMAX);
pwm.setPWM(i, 0, pulselen);
}
}
}
}
}