Datasheet

Assemble and Test your BOE Shield-Bot • Chapter 3
Robotics with the BOE Shield-Bot • 87
servoRight.attach(12); // Attach right signal to pin 12
servoRight.writeMicroseconds(1300); // Right wheel clockwise
delay(3000); // ...for 3 seconds
servoRight.writeMicroseconds(1500); // Stay still
delay(1000); // ...for 3 seconds
servoRight.writeMicroseconds(1700); // Right wheel counterclockwise
delay(3000); // ...for 3 seconds
servoRight.writeMicroseconds(1500); // Right wheel counterclockwise
}
void loop() // Main loop auto-repeats
{ // Empty, nothing needs repeating
}
Your Turn – Testing the Left Wheel
Now, it’s time to run the same test on the left wheel as shown below. This involves
modifying the RightServoTest sketch.
 Save RightServoTest as LeftServoTest.
 Change
Servo servoRight to Servo servoLeft.
 Change
servoRight.Attach(12) to servoLeft.Attach(13).
 Replace the rest of the
servoRight references with servoLeft.
 Save the modified sketch, and run it on your Arduino.
 Verify that it makes the left servo turn clockwise for 3 seconds, stop for 1 second,
then turn counterclockwise for 3 seconds.
 If the left wheel does not behave as predicted, see Servo Troubleshooting below.
Clockwise 3 seconds
Stop 1 second
Counterclockwise 3 seconds