servoTest::servoTest(byte pin)
{
_pin=pin;
_carteAda = Adafruit_PWMServoDriver(0x40);
}
Hand::Hand() {
for (int i = 0; i < NUM_FINGERS; ++i) {
finger[i].setup(i);
}
pwmDriver = Adafruit_PWMServoDriver(0x5F);
pwmDriver.begin();
pwmDriver.setPWMFreq(24);
}
Adafruit_MotorShield::Adafruit_MotorShield(uint8_t bus, uint8_t addr) {
_addr = addr;
_bus = bus;
_pwm = Adafruit_PWMServoDriver(_bus, _addr);
}
// keeps track of whether its safe or not to update the servos
uint8_t update_reg_flag = 0;
// variables for the callback
uint16_t timer;
uint8_t counter = 0;
uint8_t pwm_active = 1;
uint16_t group_offsets[4] = {0,251,502,753};
uint8_t group_latches[4] = {5,6,7,4};
uint8_t pin_2_num[8] = {0x08,0x04,0x02,0x01, 0x80,0x40,0x20,0x10};
// Use Adafruit PWM Servo Driver Library
// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
Adafruit_PWMServoDriver pwm2 = Adafruit_PWMServoDriver(0x41);
void Servotor32::begin(){
// Serial setup moved to .ino setup()
// Setup pwm output
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
pwm2.begin();
pwm2.setPWMFreq(60);
Timer1.initialize(10);
Timer1.attachInterrupt(callback);
for(byte i=0; i<SERVOS; i++){
interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4 Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit! Written by Limor Fried/Ladyada for Adafruit Industries. BSD license, all text above must be included in any redistribution ****************************************************/ #include <Arduino.h> #include <Wire.h> #include <Adafruit_PWMServoDriver.h> // Use the default address for the first board Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40); // Depending on your servo make, the pulse width min and max may vary, you // want these to be as small/large as possible without hitting the hard stop // for max range. You'll have to tweak them as necessary to match the servos you // have! #define SERVOMIN 200 // this is the 'minimum' pulse length count (out of 4096) #define SERVOMAX 450 // this is the 'maximum' pulse length count (out of 4096) // our servo # counter uint8_t servo_00 = 4; uint8_t servo_01 = 5; // Continuous servo positions uint16_t BACKWARD = map(0, 0, 180, SERVOMIN, SERVOMAX); // ms, "0" uint16_t STOP = map(90, 0, 180, SERVOMIN, SERVOMAX); // ms, "90"
#include "robot.h"
Adafruit_PWMServoDriver robot::pwm = Adafruit_PWMServoDriver();
float robot::speed_divider = 60;
float adj_speed(int speed) { return static_cast<float>(speed) / robot::speed_divider; }
robot::robot() :
left_arm(servo(1, left_arm_min, left_arm_min + arm_range)),
right_arm(servo(0, right_arm_min, right_arm_min - arm_range)),
head(servo(2, head_center - head_range, head_center + head_range)),
torso(servo(3, torso_center - torso_range, torso_center + torso_range)),
tilt(servo(15, tilt_center - tilt_range, tilt_center + tilt_range)),
left_eye(rgb_led(4)),
right_eye(rgb_led(8)),
chest(led_grid(2, 3, 4, 5)),
voice(speaker(9)){ }
void robot::setup() {
Serial.println("Hello!");
pwm.begin();
pwm.setPWMFreq(60);
left_arm.setup();
right_arm.setup();
head.setup();
torso.setup();
tilt.setup();
left_eye.setup();
right_eye.setup();
chest.setup();
voice.setup();
MotorController::MotorController()
{
// Setup pwm
this->pwm = Adafruit_PWMServoDriver();
}
/* * File: Servo_Position_Shell.cpp * Author: Nickolas Neely * * Created on February 8, 2016, 12:05 PM */ #include <wiringPi.h> #include "Adafruit_PWMServoDriver.cpp" #include <iostream> #include "Servo_Position_Shell.h" // called this way, it uses the default address 0x40 Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(); // you can also call it with a different address you want //Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41); // Depending on your servo make, the pulse width min and max may vary, you // want these to be as small/large as possible without hitting the hard stop // for max range. You'll have to tweak them as necessary to match the servos you // have! #define SERVOMIN 150 // this is the 'minimum' pulse length count (out of 4096) #define SERVOMAX 600 // this is the 'maximum' pulse length count (out of 4096) // our servo # counter uint8_t servo_num; /** * Desc: This function sets up the breakout board communication with I2C
