Mutliple Serial Servo Control
/*
* ------------------------------
* MultipleSerialServoControl
* ------------------------------
*
* Uses the Arduino Serial library
* (http://arduino.cc/en/Reference/Serial)
* and the Arduino Servo library
* (http://arduino.cc/en/Reference/Servo)
* to control multiple servos from a PC using a USB cable.
*
* Dependencies:
* Arduino 0017 or higher
* (http://www.arduino.cc/en/Main/Software)
* Python servo.py module
* (http://principialabs.com/arduino-python-4-axis-servo-control/)
*
* Created: 23 December 2009
* Author: Brian D. Wendt
* (http://principialabs.com/)
* Version: 1.1
* License: GPLv3
* (http://www.fsf.org/licensing/)
*
*/
// Import the Arduino Servo library
#include <Servo.h>
// Create a Servo object for each servo
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
// Common servo setup values
int minPulse = 600; // minimum servo position, us (microseconds)
int maxPulse = 2400; // maximum servo position, us
// User input for servo and position
int userInput[3]; // raw input from serial buffer, 3 bytes
int startbyte; // start byte, begin reading input
int servo; // which servo to pulse?
int pos; // servo angle 0-180
int i; // iterator
// LED on Pin 13 for digital on/off demo
int ledPin = 13;
int pinState = LOW;
void setup()
{
// Attach each Servo object to a digital pin
servo1.attach(9, minPulse, maxPulse);
servo2.attach(10, minPulse, maxPulse);
servo3.attach(11, minPulse, maxPulse);
servo4.attach(12, minPulse, maxPulse);
// LED on Pin 13 for digital on/off demo
pinMode(ledPin, OUTPUT);
// Open the serial connection, 9600 baud
Serial.begin(9600);
}
void loop()
{
// Wait for serial input (min 3 bytes in buffer)
if (Serial.available() > 2) {
// Read the first byte
startbyte = Serial.read();
// If it's really the startbyte (255) ...
if (startbyte == 255) {
// ... then get the next two bytes
for (i=0;i<2;i++) {
userInput[i] = Serial.read();
}
// First byte = servo to move?
servo = userInput[0];
// Second byte = which position?
pos = userInput[1];
// Packet error checking and recovery
if (pos == 255) { servo = 255; }
// Assign new position to appropriate servo
switch (servo) {
case 1:
servo1.write(pos); // move servo1 to 'pos'
break;
case 2:
servo2.write(pos);
break;
case 3:
servo3.write(pos);
break;
case 4:
servo4.write(pos);
break;
// LED on Pin 13 for digital on/off demo
case 99:
if (pos == 180) {
pinState == LOW;
}
if (pos == 0) {
pinState = LOW;
}
digitalWrite(ledPin, pinState);
break;
}
}
}
}