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Servos With Arduino PSU 2012

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Mirjalol Fayzullayev
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9 views

Servos With Arduino PSU 2012

Uploaded by

Mirjalol Fayzullayev
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Living with the Lab

Using servos with an Arduino

EAS 199A Fall 2011


Living with the Lab

Learning Objectives
• Be able to identify characteristics that distinguish
a servo and a DC motor
• Be able to describe the difference a conventional
servo and a continuous rotation servo
• Be able to use the Arduino Servo library to
control servo position
Living with the Lab

References
Information on Arduino Servo library:
http://www.arduino.cc/en/Reference/Servo
http://www.arduino.cc/playground/Learning/SingleServoExample

Additional descriptions of servos


http://makeprojects.com/Wiki/Servos
http://www.seattlerobotics.org/guide/servos.html
Living with the Lab

What is a servo?
A servo-motor is an actuator with a built-in
feedback mechanism that responds to a control
signal by moving to and holding a position, or by
moving at a continuous speed.
Living with the Lab

DC Motors and Servos

DC Motor Servo
• Motion is continuous • Capable of holding a
• Speed controlled by position
applied voltage • Speed controlled by delay
between position updates
• Hybrid of motor, gears
and controller.
Living with the Lab

Conventional and Continuous Rotation

Two types of servos

continuous rotation standard


can rotate all the way around in either direction can only rotate 180 degrees

pulse tells servo pulse tells servo


which way to spin & how fast to spin which position to hold
Living with the Lab

Control signal is a pulse train

Pulse frequency is fixed


Typical: 20 ms

Pulse width determines position


Typical: 1ms to 2 ms
Living with the Lab

Servo components
1. Small DC motor
2. Gearbox with small plastic gears to reduce the RPM and increase output torque
3. Special electronics to interpret a pulse signal and deliver power to the motor
Living with the Lab

Servo from the Sparkfun kit


The micro servo from the Sparkfun Inventor’s kit is a
conventional servo, i.e. the control signal results in moving
the shaft to an angular position.
Living with the Lab

Arduino Servo library handles the details

• Must connect servos on pin 9 or pin 10


• From the Aduino web site:

“…use of the library disables analogWrite()


(PWM) functionality on pins 9 and 10, whether
or not there is a Servo on those pins”

http://www.arduino.cc/en/Reference/Servo
Living with the Lab

Arduino Servo library handles the details

• Three components of the Servo Library


– Create the servo object
Servo my_servo_object;

Name of the object is like


– Attach the object a variable name.
my_servo_object.attach(servo_pin);

attach and write are pre-


– Send control signal defined methods that act
my_servo_object.write(pos); on the servo object.
Living with the Lab

Modified version of the sweep function


// File: sweep_variable_wait
//
// Modified version of Sweep by BARRAGAN <http://barraganstudio.com>
// Use variable dtwait to make the speed of sweep aparent

#include <Servo.h> // Make code in Servo.h available to this sketch

Servo myservo; // Create servo object called "myservo"


int servo_pin=9; // The servo must be attached to pin 9 or pin 10

void setup()
{
myservo.attach(servo_pin); // attaches the servo pin to myservo object
}

void loop()
{
int pos = 0; // variable to store the servo position
int dtwait=15; // duration of wait at the end of each step

for(pos = 0; pos < 180; pos += 1) {


myservo.write(pos); // Move to position in variable 'pos'
delay(dtwait); // wait dtwait for the servo to reach the position
}
for(pos = 180; pos>=1; pos -= 1) {
myservo.write(pos); // Move to position in variable 'pos'
delay(dtwait); // wait dtwait for the servo to reach the position
}
}
Living with the Lab

Experiment
• What happens when you adjust dtwait?
• Can adjust the sweep angle?
– Make new variable to define end angle of the loop
• Open the Knob demo from the Arduino IDE
– Connect a potentiometer to an analog input
– Use the potentiometer to control the servo position

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