Datasheet

Chapter 3 • Assemble and Test your BOE Shield-Bot
94 • Robotics with the BOE Shield-Bot
codebender : edu Type one character Click Send
more likely to result in closely matched speeds than picking two values in the 1400
to 1600 µs range.
3. Between 1400 and 1600 µs, speed control is more or less linear. In this range, a
certain change in pulse width will result in a corresponding change in speed. Use
pulses in this range to control your servo speeds.
Example Sketch: TestServoSpeed
With this sketch, you can check servo RPM speed (and direction) for pulse values from
1375 µs to 1625 µs in steps of 25 μs. These speed measurements will help make it clear
how servo control pulse durations in the 1400 to 1600 µs range control servo speed. This
sketch starts by displaying the pulse duration that it’s ready to send as a servo control
signal. Then, it waits for you to send the Arduino a character with the Serial Monitor
before it runs the servo. It runs the servo for six seconds, and during that time you can
count the number of full turns the wheel makes. After that, the
for loop repeats itself,
and increases the pulse duration by 25 for the next test.
 Place a mark (like a piece of masking tape) on the wheel so that you can see how
many revolutions it turns during the wheel speed tests.
 Set the BOE Shield-Bot on its nose so that the wheels can spin freely.
 Create and save the TestServoSpeed sketch, and run it on the Arduino.
 Open the Serial Monitor. Set the menus to 9600 baud and “no line ending."
Arduino IDE
Type one
character
Click Send