サーボモーター20kgアルコール消毒

/*
This is an example for our Adafruit 16-channel PWM & Servo driver
Servo test – this will drive 8 servos, one after the other on the
first 8 pins of the PCA9685

Pick one up today in the adafruit shop!
——> http://www.adafruit.com/products/815

These drivers use I2C to communicate, 2 pins are required to
interface.

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

include

// 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);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);

// 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)

define USMIN 600 // This is the rounded ‘minimum’ microsecond length based on the minimum pulse of 150

define USMAX 2400 // This is the rounded ‘maximum’ microsecond length based on the maximum pulse of 600

define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates

define echoPin 2 // Echo Pin

define trigPin 3 // Trigger Pin

double Duration = 0; //受信した間隔
double Distance = 0; //距離
// our servo # counter
uint8_t servonum = 0;

void setup() {

Serial.begin(9600);
Serial.println(“8 channel Servo test!”);
pinMode( echoPin, INPUT );
pinMode( trigPin, OUTPUT );
pwm.begin();
/*

  • In theory the internal oscillator (clock) is 25MHz but it really isn’t
  • that precise. You can ‘calibrate’ this by tweaking this number until
  • you get the PWM update frequency you’re expecting!
  • The int.osc. for the PCA9685 chip is a range between about 23-27MHz and
  • is used for calculating things like writeMicroseconds()
  • Analog servos run at ~50 Hz updates, It is importaint to use an
  • oscilloscope in setting the int.osc frequency for the I2C PCA9685 chip.
  • 1) Attach the oscilloscope to one of the PWM signal pins and ground on
  • the I2C PCA9685 chip you are setting the value for.
  • 2) Adjust setOscillatorFrequency() until the PWM update frequency is the
  • expected value (50Hz for most ESCs)
  • Setting the value here is specific to each individual I2C PCA9685 chip and
  • affects the calculations for the PWM update frequency.
  • Failure to correctly set the int.osc value will cause unexpected PWM results
    */
    pwm.setOscillatorFrequency(27000000);
    pwm.setPWMFreq(SERVO_FREQ); // Analog servos run at ~50 Hz updates delay(10);
    }

// You can use this function if you’d like to set the pulse length in seconds
// e.g. setServoPulse(0, 0.001) is a ~1 millisecond pulse width. It’s not precise!
void setServoPulse(uint8_t n, double pulse) {
double pulselength;

pulselength = 1000000; // 1,000,000 us per second
pulselength /= SERVO_FREQ; // Analog servos run at ~60 Hz updates
Serial.print(pulselength); Serial.println(” us per period”);
pulselength /= 4096; // 12 bits of resolution
Serial.print(pulselength); Serial.println(” us per bit”);
pulse *= 1000000; // convert input seconds to us
pulse /= pulselength;
Serial.println(pulse);
pwm.setPWM(n, 0, pulse);
}

void loop() {
digitalWrite(trigPin, LOW);
delayMicroseconds(2);
digitalWrite( trigPin, HIGH ); //超音波を出力
delayMicroseconds( 10 ); //
digitalWrite( trigPin, LOW );
Duration = pulseIn( echoPin, HIGH ); //センサからの入力
if (Duration > 0) {
Duration = Duration/2; //往復距離を半分にする
Distance = Duration340100/1000000; // 音速を340m/sに設定
// Drive each servo one at a time using setPWM()
if(Distance<15){ Serial.println(servonum); for (uint16_t pulselen = SERVOMIN; pulselen < SERVOMAX; pulselen++) { pwm.setPWM(servonum, 0, pulselen); } }else{ digitalWrite(servonum, LOW); servonum++; //if (servonum > 3)servonum = 0;

delay(500);
for (uint16_t pulselen = SERVOMAX; pulselen > SERVOMIN; pulselen–) {
pwm.setPWM(servonum, 0, pulselen);
}
}

delay(500);

// Drive each servo one at a time using writeMicroseconds(), it’s not precise due to calculation rounding!
// The writeMicroseconds() function is used to mimic the Arduino Servo library writeMicroseconds() behavior.
///for (uint16_t microsec = USMIN; microsec < USMAX; microsec++) {
/// pwm.writeMicroseconds(servonum, microsec);
/// }

/// delay(500);
///for (uint16_t microsec = USMAX; microsec > USMIN; microsec–) {
/// pwm.writeMicroseconds(servonum, microsec);
/// }

///delay(500);
//以下の数字が動作の秒数
servonum++;
if (servonum > 3) servonum = 0; // Testing the first 8 servo channels
}}

コメントを残す

メールアドレスが公開されることはありません。 * が付いている欄は必須項目です