arduino数字io口控制四个舵机(英文).doc

Hardware Setup Hardware for this project consists of an Arduino module, four JR Sport ST47 standard servos, and a breadboard to create the circuit. The servos each have three wires: Ground (brown), Power (red) and Control (yellow). Each of the Control wires will connect to a different digital pin on the Arduino board (pins 2 through 5 in our setup), and all of the Power and Ground wires will need to connect somehow to the 5V and Gnd pins. The simplest way to accomplish this is to create a “bus” bar along one of the breadboard’s edges, as shown in the photo above. Simply route the Arduino’s 5V and Gnd to a convenient area on the breadboard, and connect all the servos. Required Software: The Lower Layers To get the effects seen in the video above, you’ll need at least the following two programs. Although this code is designed to control four servos, it also works as-is with fewer servos, and — with a few modifications — as many as twelve. Download the code: MultipleServos.pde: This is the Arduino sketch. Copy and paste this code into your Arduino IDE software and upload it to the board. servo.py: This is the Python module which talks directly to the Arduino sketch “MultipleServos.” This script requires the pyserial module, available from Sourceforge. Save this script on your PC wherever you like, just be sure to name it “servo.py”. New to Python? Welcome! Python is a versatile and fun language to learn, and it’s used by just about everyone, from newbies to NASA! Check out the Beginner’s Guide to get your bearings, or get the full skinny at python.org. Customize the code: Depending on your computer system and Arduino hardware setup, you may need to make a few modifications to the code. Arduino: In the “MultipleServos” sketch, take note of the following three variables and make adjustments as necessary for your setup. See “Arduino Serial Servo Control” for more details regarding the minPulse and maxPulse variables. int pinArray[4] = {2, 3, 4, 5}; // digital pins for th