Sterowanie_Servo.h~RF2a7ea9.TMP

#pragma once

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
// you can also call it with a different address you want
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x41);
// you can also call it with a different address and I2C interface
//Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40, Wire);

// Depending on your servo make, the pulse width min and max may vary, you 
// want these to be as small/large as possible without hitting the hard stop
// for max range. You'll have to tweak them as necessary to match the servos you
// have!
#define SERVOMIN  150 // This is the 'minimum' pulse length count (out of 4096)
#define SERVOMAX  600 // This is the 'maximum' pulse length count (out of 4096)
#define USMIN  600 // This is the rounded 'minimum' microsecond length based on the minimum pulse of 150
#define USMAX  2400 // This is the rounded 'maximum' microsecond length based on the maximum pulse of 600
#define SERVO_FREQ 50 // Analog servos run at ~50 Hz updates

// our servo # counter

uint8_t servonum = 0;
uint16_t pulselen = 250;

void moveServo(uint8_t servonum) {
    Serial.println("serwo");
    Serial.println(servonum);
    Serial.println("serwo1");
    uint16_t pulselen = 250; //dlugosc impulsu
    for (pulselen = 250; pulselen < 500; pulselen++) {
        pwm.setPWM(servonum, 0, pulselen);
        delay(10);
        Serial.println("serwo10");
        Serial.println(pulselen);
    }

    delay(100);

    for (pulselen = 500; pulselen > 250; pulselen--) {
        pwm.setPWM(servonum, 0, pulselen);
        delay(10);
        Serial.println("serwo11");
        Serial.println(pulselen);
    }
    Serial.println("serwo2");
    return;
}