Выход управления PB0
Медленное изменения угла поворота сервопривода:
#include <avr/io.h>
#include <util/delay.h>
int main(void) {
DDRB |=(1<<PB0);
while(1) {
for(int i=0;i<=170;i++){
servoPulse(i);
_delay_ms(30);
}
for(int i=170;i>=0;i--){
servoPulse(i);
_delay_ms(30);
}
}
}
void servoPulse(int angle){
int times = ((angle * 11) + 500)/10;
PORTB |= (1<<PB0);
for(int n=0;n<times;n++){_delay_us(10);}
PORTB &=~ (1<<PB0);
for(int n=0;n<2000-times;n++){_delay_us(10);}
}Быстрое изменения угла поворота сервопривода:
#include <avr/io.h>
#include <util/delay.h>
int val;
int main(void) {
DDRB |=(1<<PB0);
while(1) {
val = 0;
for (int i = 0; i <= 50; i++){servoPulse(val);}
_delay_ms(1000);
val = 90;
for (int i = 0; i <= 50; i++){servoPulse(val);}
_delay_ms(1000);
val = 160;
for (int i = 0; i <= 50; i++){servoPulse(val);}
_delay_ms(1000);
val = 90;
for (int i = 0; i <= 50; i++){servoPulse(val);}
_delay_ms(1000);
}}
void servoPulse(int angle){
int times = ((angle * 11) + 500)/10;
PORTB |= (1<<PB0);
for(int n=0;n<times;n++){_delay_us(10);}
PORTB &=~ (1<<PB0);
for(int n=0;n<2000-times;n++){_delay_us(10);}
}
/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include <Servo.h>
Servo myservo; // create servo object to control a servo
// twelve servo objects can be created on most boards
int pos = 0; // variable to store the servo position
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
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 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(30); // waits 15ms for the servo to reach the position
}
}int servoPin = 9; // сигнальный провод от серво на порт 9
void setup()
{
pinMode(servoPin, OUTPUT);
Serial.begin(9600);
}
void loop(){
for(int i=0;i<=180;i++){
servoPulse(servoPin, i);
delay(30);
}
delay(100);
for(int i=180;i>=0;i--){
servoPulse(servoPin, i);
delay(30);
}
}
// define a servo pulse function
void servoPulse(int pin, int angle){
int timess;
// for (int i_ = 0; i_ <= 5; i_++) {
timess = map(angle, 0,180, 544, 2400);
digitalWrite(pin, HIGH); // set the level of servo pin as high
delayMicroseconds(timess); // delay microsecond of pulse width
digitalWrite(pin, LOW); // set the level of servo pin as low
delay(20 - timess / 1000);
}//}int servoPin = 9; // сигнальный провод от серво на порт 9
int val;
void setup()
{
pinMode(servoPin, OUTPUT);
Serial.begin(9600);
Serial.println("Servo is ready");
}
void loop(){
val = 0;
for (int i = 0; i <= 50; i++){servoPulse(servoPin, val);}
delay(1000);
val = 90;
for (int i = 0; i <= 50; i++){servoPulse(servoPin, val);}
delay(1000);
val = 180;
for (int i = 0; i <= 50; i++){servoPulse(servoPin, val);}
delay(1000);
val = 90;
for (int i = 0; i <= 50; i++){servoPulse(servoPin, val);}
delay(1000);
}
// define a servo pulse function
void servoPulse(int pin, int angle){
int pulseWidth = map(angle, 0, 180 , 544, 2480);
Serial.println(pulseWidth);
digitalWrite(pin, HIGH); // set the level of servo pin as high
delayMicroseconds(pulseWidth); // delay microsecond of pulse width
digitalWrite(pin, LOW); // set the level of servo pin as low
delayMicroseconds(20000 - pulseWidth);
}/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Sweep
*/
#include <Servo.h>
Servo myservo; // create servo object to control a servo
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
myservo.write(0);
delay(1000);
myservo.write(90);
delay(1000);
myservo.write(180);
delay(1000);
myservo.write(90);
delay(1000);
}