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#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// Servo pulse limits (tune for your specific servos)
#define SERVOMIN 150 // 0 degrees
#define SERVOMAX 600 // 180 degrees
float currentAngle = 0; // Start at 90 degrees
float targetAngle = 0;
int angleToPulse(float angle) {
return map((int)angle, 0, 180, SERVOMIN, SERVOMAX);
}
void setup() {
Serial.begin(9600);
Serial.println("Type an angle (0–180) and press Enter:");
pwm.begin();
pwm.setPWMFreq(50);
delay(10);
// Initialize both servos to center position
int pulse = angleToPulse(currentAngle);
pwm.setPWM(0, 0, pulse);
pwm.setPWM(1, 0, pulse);
}
void loop() {
if (Serial.available()) {
int angle = Serial.parseInt();
if (angle >= 0 && angle <= 180) {
targetAngle = angle;
Serial.print("Slowly moving servos to ");
Serial.print(targetAngle);
Serial.println(" degrees...");
// Smoothly step toward target angle
float step = 0.10; // smaller = smoother and slower
int delayTime = 5; // larger = slower (try 50 or 70 for extra slow)
if (targetAngle > currentAngle) {
for (float pos = currentAngle; pos <= targetAngle; pos += step) {
int pulse = angleToPulse(pos);
pwm.setPWM(0, 0, pulse);
pwm.setPWM(1, 0, pulse);
delay(delayTime);
}
} else {
for (float pos = currentAngle; pos >= targetAngle; pos -= step) {
int pulse = angleToPulse(pos);
pwm.setPWM(0, 0, pulse);
pwm.setPWM(1, 0, pulse);
delay(delayTime);
}
}
currentAngle = targetAngle;
Serial.println("Done!");
} else {
Serial.println("Please enter an angle between 0 and 180.");
}
// Clear serial buffer
while (Serial.available()) Serial.read();
}
}
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