root / arduino-1.0 / libraries / Firmata / examples / ServoFirmata / ServoFirmata.ino @ 58d82c77
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1 | 58d82c77 | Tom Mullins | /* |
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2 | * Firmata is a generic protocol for communicating with microcontrollers |
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3 | * from software on a host computer. It is intended to work with |
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4 | * any host computer software package. |
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5 | * |
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6 | * To download a host software package, please clink on the following link |
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7 | * to open the download page in your default browser. |
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8 | * |
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9 | * http://firmata.org/wiki/Download |
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10 | */ |
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11 | |||
12 | /* This firmware supports as many servos as possible using the Servo library |
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13 | * included in Arduino 0017 |
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14 | * |
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15 | * TODO add message to configure minPulse/maxPulse/degrees |
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16 | * |
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17 | * This example code is in the public domain. |
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18 | */ |
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19 | |||
20 | #include <Servo.h> |
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21 | #include <Firmata.h> |
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22 | |||
23 | Servo servos[MAX_SERVOS]; |
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24 | |||
25 | void analogWriteCallback(byte pin, int value) |
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26 | { |
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27 | if (IS_PIN_SERVO(pin)) { |
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28 | servos[PIN_TO_SERVO(pin)].write(value); |
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29 | } |
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30 | } |
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31 | |||
32 | void setup() |
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33 | { |
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34 | byte pin; |
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35 | |||
36 | Firmata.setFirmwareVersion(0, 2); |
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37 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); |
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38 | |||
39 | for (pin=0; pin < TOTAL_PINS; pin++) { |
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40 | if (IS_PIN_SERVO(pin)) { |
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41 | servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin)); |
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42 | } |
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43 | } |
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44 | |||
45 | Firmata.begin(57600); |
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46 | } |
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47 | |||
48 | void loop() |
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49 | { |
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50 | while(Firmata.available()) |
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51 | Firmata.processInput(); |
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52 | } |