30.12.2012Servomotor - Základy
Servomotor je zjednodušeně motor, který je schopen otočit se jen v přesně vymezeném úhlu (běžně 180°). Používá se tam, kde se hodí znát pozici natočení a mít možnost natočení přesně nastavit. Servomotoru prostě nastavíte, aby se natočil na 90° a on to udělá. Pokud nastavíte znova to samé, nepohne se. To je ve stručnosti funkce servomotoru.
Servomotor má 3 inputy (dráty). Napájení (Vcc a Gnd) a ovládací.
Zde je ukázkový kód pro Energii
Pro jistotu i soubor servo.h, který je v energii normálně dostupný a není potřeba ho řešit.
Servomotor má 3 inputy (dráty). Napájení (Vcc a Gnd) a ovládací.
Zde je ukázkový kód pro Energii
ServoDemo
#include <Servo.h> int dim = 0; Servo myservo; // create servo object to control a servo // a maximum of eight servo objects can be created int pos = 0; // variable to store the servo position int val = 0; boolean go=false; int intensity=0; int pushButton = 5; int buttonstate=0; void setup() { myservo.attach(9); // attaches the servo on pin 9 to the servo object - pin 2.1 } void loop() { analogWrite(2,255); for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees { // in steps of 1 degree myservo.write(pos); // tell servo to go to position in variable 'pos' delay(30); // waits 30ms for the servo to reach the position } analogWrite(2,0); analogWrite(14,255); myservo.write(0); delay(400); analogWrite(14,0); }
Pro jistotu i soubor servo.h, který je v energii normálně dostupný a není potřeba ho řešit.
servo.h
/* Servo.h - Interrupt driven Servo library for MSP430 Copyright (c) 2012 Petr Baudis. All right reserved. Modified by Peter Brier 26-6-2012: Fixed timing/IRQ problem Derived from: Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef Servo_H #define Servo_H #include <inttypes.h> /* This version attempts to be compatible with the Arduino Servo library, but supports only a single timer. So do not add too many servos. :-) */ /* Note that the Servo uses TIMER0_A, which cannot be used for other purposes, e.g. for TimerSerial. XXX: Also, some pins reused by TIMER0_A may be affected by this library, but I do not understand the datasheet enough regarding this. Most likely, you should avoid PWM on pin 2? (And other stuff too?) */ #define Servo_VERSION 2 // software version of this library #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo [uS] #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo [uS] #define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached #define REFRESH_INTERVAL 20000 // servos refresh period in microseconds #define MAX_SERVOS 8 #define INVALID_SERVO 255 // flag indicating an invalid servo index typedef struct { uint8_t nbr :6 ; // a pin number from 0 to 63 uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false } ServoPin_t; typedef struct { ServoPin_t Pin; unsigned int ticks; } servo_t; class Servo { public: Servo(); uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. void detach(); void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds void writeMicroseconds(int value); // Write pulse width in microseconds int read(); // returns current pulse width as an angle between 0 and 180 degrees int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release) bool attached(); // return true if this servo is attached, otherwise false private: uint8_t servoIndex; // index into the channel data for this servo int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH }; #endif
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