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#include <pololu/orangutan.h>
/*
* svp-sixteen-servo: for the Orangutan SVP.
*
* This example uses the OrangutanServos functions to control sixteen 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.
* Servos a0-a7 will be on the servo demux outputs.
* Servos b0-b7 will be on pins PA0-PA7.
*
* 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 from the demux.
const unsigned char demuxPins[] = {IO_B3, IO_B4, IO_C0}; // B3=SA, B4=SB, C0=B5.
// This array specifies the correspondence between I/O pins and
// software-PWMed servos.
const unsigned char servoPinsB[] = {IO_A0, IO_A1, IO_A2, IO_A3,
IO_A4, IO_A5, IO_A6, IO_A7};
servos_init_extended(demuxPins, sizeof(demuxPins), servoPinsB, sizeof(servoPinsB));
// 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); // Servo a0 = Demux output 0
set_servo_speed(1, 150); // Servo a1 = Demux output 1
set_servo_speed(2, 150); // Servo a2 = Demux output 2
set_servo_speed(3, 150); // Servo a3 = Demux output 3
set_servo_speed(4, 150); // Servo a4 = Demux output 4
set_servo_speed(5, 150); // Servo a5 = Demux output 5
set_servo_speed(6, 150); // Servo a6 = Demux output 6
set_servo_speed(7, 150); // Servo a7 = Demux output 7
set_servo_speedB(0, 150); // Servo b0 = pin A0
set_servo_speedB(1, 150); // Servo b1 = pin A1
set_servo_speedB(2, 150); // Servo b2 = pin A2
set_servo_speedB(3, 150); // Servo b3 = pin A3
set_servo_speedB(4, 150); // Servo b4 = pin A4
set_servo_speedB(5, 150); // Servo b5 = pin A5
set_servo_speedB(6, 150); // Servo b6 = pin A6
set_servo_speedB(7, 150); // Servo b7 = pin A7
// 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);
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Pololu AVR C/C++ Library User’s Guide © 2001–2019 Pololu Corporation
3. Functional Overview and Example programs Page 40 of 56