Servo

1.Introduction

2.API

Servo();uint8_tattach(int pin,int value = DEFAULT_PULSE_WIDTH);// attach the given pin to the next free channel, sets pinMode, set angle value, returns channel number or 0 if failureuint8_tattach(int pin,int min,int max,int value = DEFAULT_PULSE_WIDTH);// as above but also sets min and max values for writes.voiddetach();voidwrite(int value);// if value is < 200 its treated as an angle, otherwise as pulse width in microsecondsvoidwriteMicroseconds(int value);// Write pulse width in microsecondsintread();// returns current pulse width as an angle between 0 and 180 degreesintreadMicroseconds();// returns current pulse width in microseconds for this servo (was read_us() in first release)boolattached();// return true if this servo is attached, otherwise false

3.Implementation

           ___                                    ___Servo1 ___|   |__________________________________|   |___               ____                                   ____Servo2 _______|    |_________________________________|    |__

Warning

To avoid CPU load, it is possible to useHardwareTimer library directly to control servo motors.But is this case, all GPIO are not eligible to control servo,only the GPIO that have HardwareTimer output capability.One timer channel is required per servo.Frequency should be 20ms, Pulse: between 1ms and 2ms.