with ZumoMotors, making it possible to simultaneously control servos and the motors.
Warning:
The modifications described here will affect any sketch for the Arduino Leonardo
or A-Star that uses the Servo library.
1. First, you will need to locate the Arduino IDE’s Servo library, and find the file inside it named
ServoTimers.h. For the 1.6.x versions of the IDE, this file can be found in
libraries/Servo/src/
avr/ServoTimers.h
. If you are using Mac OS X, you will need to right-click on the Arduino IDE
icon and select “Show Package Contents” to see the files inside.
2. Open ServoTimers.h in a text editor.
3. Locate the following lines of code in ServoTimers.h:
4. The lower two lines of code specify that the library should use Timer 1. To use Timer 3
instead, just change
_useTimer1
to
_useTimer3
and
_timer1
to
_timer3
.
5. Save the file.
The Arduino IDE will automatically incorporate your modifications to the Servo library. The next time
you compile a sketch for the Arduino Leonardo or A-Star that uses the Servo library, it will use Timer
3 instead of Timer 1.
1
2
3
#elif defined(__AVR_ATmega32U4__)
#define _useTimer1
typedef enum
{ _timer1, _Nbr_16timers } timer16_Sequence_t ;
Pololu Zumo Shield for Arduino User’s Guide
© 2001–2019 Pololu Corporation
8. Controlling a servo
Page 52 of 52
