Datasheet

Chapter 3 • Assemble and Test your BOE Shield-Bot
102 • Robotics with the BOE Shield-Bot
servoRight.writeMicroseconds(1500 + (1500 – pulseWidth))
Remember to add a servoRight.writeMicroseconds(1500) after the 6-second run
time.
/*
Robotics with the BOE Shield – Chapter 3, Project 2
*/
#include <Servo.h> // Include servo library
Servo servoLeft; // Declare left servo signal
Servo servoRight; // Declare right servo signal
void setup() // Built in initialization block
{
tone(4, 3000, 1000); // Play tone for 1 second
delay(1000); // Delay to finish tone
Serial.begin(9600); // Set data rate to 9600 bps
servoLeft.attach(13); // Attach left signal to P13
servoRight.attach(12); // Attach right signal to P12
}
void loop() // Main loop auto-repeats
{
// Loop counts with pulseWidth from 1375 to 1625 in increments of 25.
for(int pulseWidth = 1375; pulseWidth <= 1625; pulseWidth += 25)
{
Serial.print("pulseWidth = "); // Display pulseWidth value
Serial.println(pulseWidth);
Serial.println("Press a key and click"); // User prompt
Serial.println("Send to start servo...");
while(Serial.available() == 0); // Wait for character
Serial.read(); // Clear character
Serial.println("Running...");
servoLeft.writeMicroseconds(pulseWidth); // Pin13 servo speed = pulse
// Pin 12 servo opposite direction of pin 13 servo.
servoRight.writeMicroseconds(1500 + (1500 - pulseWidth));
delay(6000); // ..for 6 seconds
servoLeft.writeMicroseconds(1500); // Pin 13 servo speed = stop
servoRight.writeMicroseconds(1500); // Pin 12 servo speed = stop
tone(4, 4000, 75); // Test complete
}
}