Arduino サーボ制御 LXD-227

LXD-227制御例

#define SERVO_PIN 9
#define CYCLE 22000
#define MIN_PULSE 1
#define ANGLE_0 600
#define ANGLE_180 2000
#define ANGLE_90 1300

int pulse = 600;//500-2100 (500-2500)
int _pulse = 2000;



void ServoWrite(int min_pulse) {
    if (_pulse - pulse > min_pulse) {
        _pulse -= min_pulse;
    }
    else if (_pulse - pulse < -min_pulse) {
        _pulse += min_pulse;
    }
    else {
        _pulse = pulse;
    }
    digitalWrite(SERVO_PIN, HIGH);
    delayMicroseconds(_pulse);
    digitalWrite(SERVO_PIN, LOW);
    delayMicroseconds(CYCLE - _pulse);
}

void ServoTest(int speed) {
    for (int i = 0; i < 500; i++) {
        ServoWrite(speed);
    }

}

void ServoSetup() {
    pinMode(SERVO_PIN, OUTPUT);
    int speed = 30;
    pinMode(SERVO_PIN, OUTPUT);
    ServoTest(speed);
    pulse = ANGLE_180;
    ServoTest(speed);
    pulse = ANGLE_0;
    ServoTest(speed);
    pulse = ANGLE_180;
    ServoTest(speed);

    pulse = ANGLE_90;

}

void setup() {
    Serial.begin(115200);
    ServoSetup();
    Serial.println("START");
}


void loop() {
    if (Serial.available()) {
        pulse = Serial.parseInt();
        if (pulse < 500)pulse = 500;
        if (pulse > 2100)pulse = 2100;
    }

    ServoWrite(MIN_PULSE);


}