Datasheet

Assemble and Test your BOE Shield-Bot • Chapter 3
Robotics with the BOE Shield-Bot • 95
 Click the transmit pane at the top, type any character, and click the Send button.
 Count the number of turns the wheel makes, and multiply by 10 for RPMs. (Don’t
forget to make a note of direction; it will change after the 5th test.)
If you were to add your data points to the graph, would they fit the overall shape?
/*
Robotics with the BOE Shield – TestServoSpeed
Send a character from the Serial Monitor to the Arduino to make the
left servo run for 6 seconds. Starts with 1375 us pulses and increases by
25 us with each repetition, up to 1625 us. This sketch is useful for
graphing speed vs. pulse width.
*/
#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
}
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
delay(6000); // ..for 6 seconds
servoLeft.writeMicroseconds(1500); // Pin 13 servo speed = stop
}
}