ServoShield to servo.h

Projects Programming
1

Hello, I need help, I need to change the values given equation grades to send to the actuators, as you can see the code I is made with the library servoShield.hy I need to use the library servo.h since I do not own a shield servo sorry for asking this but due to time and not able to investigate more :C

  #include <servoShield.h>
  servos.setposition( BAS_SERVO, 1715 );
  servos.setposition( SHL_SERVO, 2100 );
  servos.setposition( ELB_SERVO, 2100 );
  servos.setposition( WRI_SERVO, 1800 );
  servos.setposition( WRO_SERVO, 600 );
  servos.setposition( GRI_SERVO, 900 );
  ......
  float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 );
  float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 );
  float elb_servopulse = 1500.0 -  (( elb_angle_d - 90.0 ) * 6.6 );
  float wri_servopulse = 1500 + ( wri_angle_d  * 11.1 );

11.11 and 6.6 are the properties of each servo.

PS: is it possible to control the servo as shown in the code without using a servo shield?

2

Those values that the setposition sends, look to me just like the values the normal servo library would send with a myServo.writeMicroseconds(xxx) so seems easy enough to re-jig such as say bas_servo.writeMicroseconds(1715).

Syntax is different of course: with the standard library you need to do an attach to associate a servo by name with a pin, and thereafter you refer to the servo as thisServo or thatServo or bas_servo or whatever.

Have a look at this example: it uses servo.write() which is degrees, but servo.writeMicroseconds() similar but gives the actual pulse width like 1715.

3

ok, thank you very much.