Code source et schéma depuis le site officiel How to assemble and control a robot arm with an Arduino - SriTu Hobby
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver srituhobby = Adafruit_PWMServoDriver();
#define servo1 0
#define servo2 1
#define servo3 2
#define servo4 3
void setup() {
Serial.begin(9600);
srituhobby.begin();
srituhobby.setPWMFreq(60);
srituhobby.setPWM(servo1, 0, 330);
srituhobby.setPWM(servo2, 0, 150);
srituhobby.setPWM(servo3, 0, 300);
srituhobby.setPWM(servo4, 0, 410);
delay(3000);
}
void loop() {
for (int S1value = 330; S1value >= 250; S1value--) {
srituhobby.setPWM(servo1, 0, S1value);
delay(10);
}
for (int S2value = 150; S2value <= 380; S2value++) {
srituhobby.setPWM(servo2, 0, S2value);
delay(10);
}
for (int S3value = 300; S3value <= 380; S3value++) {
srituhobby.setPWM(servo3, 0, S3value);
delay(10);
}
for (int S4value = 410; S4value <= 510; S4value++) {
srituhobby.setPWM(servo4, 0, S4value);
delay(10);
}
////////////////////////
delay(2000);
for (int S4value = 510; S4value > 410; S4value--) {
srituhobby.setPWM(servo4, 0, S4value);
delay(10);
}
for (int S3value = 380; S3value > 300; S3value--) {
srituhobby.setPWM(servo3, 0, S3value);
delay(10);
}
for (int S2value = 380; S2value > 150; S2value--) {
srituhobby.setPWM(servo2, 0, S2value);
delay(10);
}
for (int S1value = 250; S1value < 450; S1value++) {
srituhobby.setPWM(servo1, 0, S1value);
delay(10);
}
//////////////////////
for (int S2value = 150; S2value <= 380; S2value++) {
srituhobby.setPWM(servo2, 0, S2value);
delay(10);
}
for (int S3value = 300; S3value <= 380; S3value++) {
srituhobby.setPWM(servo3, 0, S3value);
delay(10);
}
for (int S4value = 410; S4value <= 510; S4value++) {
srituhobby.setPWM(servo4, 0, S4value);
delay(10);
}
for (int S4value = 510; S4value > 410; S4value--) {
srituhobby.setPWM(servo4, 0, S4value);
delay(10);
}
///////////////////
for (int S3value = 380; S3value > 300; S3value--) {
srituhobby.setPWM(servo3, 0, S3value);
delay(10);
}
for (int S2value = 380; S2value > 150; S2value--) {
srituhobby.setPWM(servo2, 0, S2value);
delay(10);
}
for (int S1value = 450; S1value > 330; S1value--) {
srituhobby.setPWM(servo1, 0, S1value);
delay(10);
}
}