Datasheet

BOE Shield-Bot Navigation • Chapter 4
Robotics with the BOE Shield-Bot • 143
servoRight.writeMicroseconds(1700);
delay(300);
// 60/180 = 1/3, so use 1200/3 = 400
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1700);
delay(400);
3. Solution:
// forward 1 second
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1700);
delay(1000);
// ramp into pivot
for(int speed = 0; speed <= 100; speed+=2)
{
servoLeft.writeMicroseconds(1500);
servoRight.writeMicroseconds(1500+speed);
delay(20);
};
// ramp out of pivot
for(int speed = 100; speed >= 0; speed-=2)
{
servoLeft.writeMicroseconds(1500);
servoRight.writeMicroseconds(1500+speed);
delay(20);
}
// forward again
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1700);
delay(1000);