#include <Wire.
h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
#define SERVOMIN 125 // this is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX 575 // this is the 'maximum' pulse length count (out of 4096)
// our servo # counter
//uint8_t servonum = 0;
void setup() {
Serial.begin(9600);
Serial.println("16 channel Servo test!");
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
pwm.setPWM(0, 0, angleToPulse(10) );
pwm.setPWM(1, 0, angleToPulse(65) );
pwm.setPWM(2, 0, angleToPulse(120) );
pwm.setPWM(3, 0, angleToPulse(100) );
pwm.setPWM(5, 0, angleToPulse(30) );
//pwm.setPWM(2, 0, angleToPulse(100) );
void loop(){
delay(2000);
for( int angle =10; angle<=150; angle +=2 ){
delay(20);
pwm.setPWM(0, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
/* for( int angle =150; angle>=10; angle -=2){
delay(20);
pwm.setPWM(0, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000); */
for( int angle =65; angle<=90; angle +=1){
delay(70);
pwm.setPWM(1, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
}
delay(1000);
/*for( int angle =90; angle>=65; angle -=1){
delay(70);
pwm.setPWM(1, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000); */
for( int angle =120; angle>=90; angle -=2){
delay(50);
pwm.setPWM(2, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
/*for( int angle =90; angle<=120; angle +=2){
delay(50);
pwm.setPWM(2, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
}
delay(1000);*/
for( int angle =100; angle<=150; angle +=1){
delay(20);
pwm.setPWM(3, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
/*for( int angle =150; angle>=100; angle -=1){
delay(20);
pwm.setPWM(3, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000); */
for( int angle =30; angle<=80; angle +=2){
delay(40);
pwm.setPWM(5, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
/*for( int angle =80; angle>=30; angle -=2){
delay(40);
pwm.setPWM(5, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);*/
for( int angle =90; angle<=120; angle +=2){
delay(50);
pwm.setPWM(2, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
for( int angle =150; angle>=100; angle -=1){
delay(20);
pwm.setPWM(3, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
for( int angle =90; angle>=65; angle -=1){
delay(70);
pwm.setPWM(1, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
}
delay(1000);
for( int angle =150; angle>=10; angle -=2){
delay(20);
pwm.setPWM(0, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
for( int angle =80; angle>=30; angle -=2){
delay(40);
pwm.setPWM(5, 0, angleToPulse(angle) );
// see YouTube video for details (robojax)
delay(1000);
int angleToPulse(int ang){
int pulse = map(ang,0, 180, SERVOMIN,SERVOMAX);// map angle of 0 to 180 to Servo min and Servo
max
Serial.print("Angle: ");Serial.print(ang);
Serial.print(" pulse: ");Serial.println(pulse);
return pulse;
