18. November 2010

/*
example to control pololu serial servo board
with software serial on pins 2 and 3 of arduino

see user guide
http://iad.projects.zhdk.ch/physicalcomputing/wp-content/files/ssc03a_guide.pdf
error codes of indicator leds are on page 4 of the user guide
*/

#include <SoftwareSerial.h>
// only speeds up to 9600 baud possible

#define rx 3   // rx = receive data
#define tx 2   // tx = transceive = send data

SoftwareSerial mySerial = SoftwareSerial(rx, tx);

// variables -------------------------------------

// the setup -------------------------------------
void setup(){
 pinMode(rx, INPUT);
 pinMode(tx, OUTPUT);
 mySerial.begin(9600);
/*
 for (int i=0; i<=4; i++) {
 reset(i);
 delay(1000);
 }*/
}

// the loop --------------------------------------
void loop(){
//  for (int i=0; i<=2; i++) { // make 3 steps left and right
 for (int j=0; j<=4; j++) { // turn 5 servo motors to the left
 turn_left(j);
 delay(200);
 }
 delay(1000);
 for (int j=4; j>=0; j--) { // turn 5 servo motors to the right, start with the 5th motor
 turn_right(j);
 delay(200);
 }
 delay(1000);
//  }
}

// function --------------------------------------
void reset (int servo) {
 mySerial.print(255, BYTE);      // Protocol Header
 mySerial.print(servo+8, BYTE);        // Servo 0 from 0 - 180°
 mySerial.println(5, BYTE);   // set degree
}

void turn_left (int servo){
 mySerial.print(255, BYTE);      // Protocol Header
 mySerial.print(servo+8, BYTE);        // Servo 0 from 0 - 180°
 mySerial.println(5, BYTE);   // set degree
}

void turn_right (int servo){
 mySerial.print(255, BYTE);      // Protocol Header
 mySerial.print(servo+8, BYTE);        // Servo 0 from 0 - 180°
 mySerial.println(200, BYTE);   // set degree
}