RoboPi v1.00
User Manual v0.85
Copyright 2014 William Henning
How to use Servos
#include <stdio.h>
#include "RoboPiLib.h"
#define LEFT_SERVO
0
#define RIGHT_SERVO
1
#define SERVO_MIN
500
#define SERVO_MAX
2500
#define SERVO_REV
(SESERVO_MAX)
int main(int argc, char *argv[]) {
int i;
RoboPiInit("/dev/ttyAMA0",115200);
pinMode(LEFT_SERVO, SERVO);
pinMode(RIGHT_SERVO, SERVO);
while (1) {
for(i=SERVO_MIN;i<=SERVO_MAX;i+=100) {
servoWrite(LEFT_SERVO, i);
servoWrite(RIGHT_SERVO, SERVO_REV-i);
printf("LEFT SERVO = %d\n", servoRead(LEFT_SERVO));
printf("RIGHT SERVO = %d\n", servoRead(RIGHT_SERVO));
sleep(1);
}
}
}
Controlling a Continuous Rotation Servo
If you are using continous rotation servos, the above code will cause the two servos run in one
direction, then the opposite direction, at varying speed.
Controlling a Standard Servo
If you are using standard servos, the above code will turn the servos as far as possible in one direction,
then the other direction.
http://Mikronauts.com
20
2014-01-27
