66 lines
1.5 KiB
C++
66 lines
1.5 KiB
C++
/*
|
|
* Firmata is a generic protocol for communicating with microcontrollers
|
|
* from software on a host computer. It is intended to work with
|
|
* any host computer software package.
|
|
*
|
|
* To download a host software package, please click on the following link
|
|
* to open the list of Firmata client libraries in your default browser.
|
|
*
|
|
* https://github.com/firmata/arduino#firmata-client-libraries
|
|
*/
|
|
|
|
/* This firmware supports as many servos as possible using the Servo library
|
|
* included in Arduino 0017
|
|
*
|
|
* This example code is in the public domain.
|
|
*/
|
|
|
|
#include <Servo.h>
|
|
#include <Firmata.h>
|
|
|
|
Servo servos[MAX_SERVOS];
|
|
byte servoPinMap[TOTAL_PINS];
|
|
byte servoCount = 0;
|
|
|
|
void analogWriteCallback(byte pin, int value)
|
|
{
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
servos[servoPinMap[pin]].write(value);
|
|
}
|
|
}
|
|
|
|
void systemResetCallback()
|
|
{
|
|
servoCount = 0;
|
|
}
|
|
|
|
void setup()
|
|
{
|
|
byte pin;
|
|
|
|
Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
|
|
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
|
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
|
|
|
Firmata.begin(57600);
|
|
systemResetCallback();
|
|
|
|
// attach servos from first digital pin up to max number of
|
|
// servos supported for the board
|
|
for (pin = 0; pin < TOTAL_PINS; pin++) {
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
if (servoCount < MAX_SERVOS) {
|
|
servoPinMap[pin] = servoCount;
|
|
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
|
|
servoCount++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
while (Firmata.available())
|
|
Firmata.processInput();
|
|
}
|