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);


}