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#include <pololu/orangutan.h>
/*
* svp-eight-servo: for the Orangutan SVP.
*
* This example uses the OrangutanServos functions to control eight servos.
* To use this example, you must connect the correct AVR I/O pins to their
* corresponding servo demultiplexer output-selection pins.
* - Connect PB3 to SA.
* - Connect PB4 to SB.
* - Connect PC0 to SC.
*
* http://www.pololu.com/docs/0J20
* http://www.pololu.com
* http://forum.pololu.com
*/
int main()
{
// This array specifies the correspondence between I/O pins and DEMUX
// output-selection pins. This demo uses three pins, which allows you
// to control up to 8 servos. You can also use two, one, or zero pins
// to control fewer servos.
const unsigned char demuxPins[] = {IO_B3, IO_B4, IO_C0}; // 8 servos
//const unsigned char demuxPins[] = {IO_B3, IO_B4}; // four servos
//const unsigned char demuxPins[] = {IO_B3}; // two servos
//const unsigned char demuxPins[] = {}; // one servo
servos_init(demuxPins, sizeof(demuxPins));
// Set the servo speed to 150. This means that the pulse width
// will change by at most 15 microseconds every 20 ms. So it will
// take 1.33 seconds to go from a pulse width of 1000 us to 2000 us.
set_servo_speed(0, 150);
set_servo_speed(1, 150);
set_servo_speed(2, 150);
set_servo_speed(3, 150);
set_servo_speed(4, 150);
set_servo_speed(5, 150);
set_servo_speed(6, 150);
set_servo_speed(7, 150);
// Make all the servos go to a neutral position.
set_servo_target(0, 1300);
set_servo_target(1, 1300);
set_servo_target(2, 1300);
set_servo_target(3, 1300);
set_servo_target(4, 1300);
set_servo_target(5, 1300);
set_servo_target(6, 1300);
set_servo_target(7, 1300);
while(1) // Loop forever.
{
// When the user presses the top button, execute a pre-programmed
// sequence of servo movements.
if (button_is_pressed(TOP_BUTTON))
{
set_servo_target(0, 1800); delay_ms(350);
set_servo_target(1, 1800); delay_ms(350);
set_servo_target(2, 1800); delay_ms(350);
set_servo_target(3, 1800); delay_ms(350);
?
Pololu AVR C/C++ Library User’s Guide © 2001–2019 Pololu Corporation
3. Functional Overview and Example programs Page 38 of 56