Movimento de servo motores utilizando o arduino
O controle do ângulo de cada um é feito através de um potênciometro que na sua faixa de valores de resistência/tensão no pino de entrada, é convertido a um ângulo de 0 a 180 Graus. Aqui está o circuito e a programação utilizada. A montagem e a simulação foi feita no site: www.tinkercad.com, gratuíto.
Programação proposta:
#include <Servo.h>
Servo myservo1; // create servo object to control a servo
Servo myservo2; // create servo object to control a servo
Servo myservo3; // create servo object to control a servo
Servo myservo4; // create servo object to control a servo
int potpin1 = 0; // analog pin used to connect the potentiometer
int val1; // variable to read the value from the analog pin
int potpin2 = 1; // analog pin used to connect the potentiometer
int val2; // variable to read the value from the analog pin
int potpin3 = 2; // analog pin used to connect the potentiometer
int val3; // variable to read the value from the analog pin
int potpin4 = 3; // analog pin used to connect the potentiometer
int val4; // variable to read the value from the analog pin
void setup() {
myservo1.attach(3); // attaches the servo on pin 9 to the servo object
myservo2.attach(4); // attaches the servo on pin 9 to the servo object
myservo3.attach(5); // attaches the servo on pin 9 to the servo object
myservo4.attach(6); // attaches the servo on pin 9 to the servo object
pinMode(8, INPUT);
pinMode(potpin1, INPUT);
pinMode(potpin2, INPUT);
pinMode(potpin3, INPUT);
pinMode(potpin4, INPUT);
}
void loop() {
int botao = digitalRead(8);
if(botao==1)
{
val1 = analogRead(potpin1); // reads the value of the potentiometer (value between 0 and 1023)
val1 = map(val1, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo1.write(val1); // sets the servo position according to the scaled value
val2 = analogRead(potpin2); // reads the value of the potentiometer (value between 0 and 1023)
val2 = map(val2, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo2.write(val2); // sets the servo position according to the scaled value
val3 = analogRead(potpin3); // reads the value of the potentiometer (value between 0 and 1023)
val3 = map(val3, 0, 1023, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo3.write(val3); // sets the servo position according to the scaled value
val4 = analogRead(potpin4); // reads the value of the potentiometer (value between 0 and 1023)
val4 = map(val4, 0, 1023, 89, 180); // scale it to use it with the servo (value between 0 and 90)
myservo4.write(val4); // sets the servo position according to the scaled value
delay(15); // waits for the servo to get there
}
}
