48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
/* Sweep
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by BARRAGAN <http://barraganstudio.com>
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This example code is in the public domain.
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modified 8 Nov 2013
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by Scott Fitzgerald
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http://www.arduino.cc/en/Tutorial/Sweep
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*/
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#include <Servo.h>
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#include <PID_v1.h>
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#define PIN_INPUT 0
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#define PIN_OUTPUT 3
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//Define Variables we'll be connecting to
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double Setpoint, Input, Output;
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//Specify the links and initial tuning parameters
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double Kp=2, Ki=5, Kd=1;
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PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
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Servo myservo; // create servo object to control a servo
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// twelve servo objects can be created on most boards
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int pos = 0; // variable to store the servo position
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int dif = 30;
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void setup() {
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myservo.attach(9); // attaches the servo on pin 9 to the servo object
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myservo.write(90); // tell servo to go to position in variable 'pos'
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delay(15); // waits 15ms for the servo to reach the position
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}
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void loop() {
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for (pos = 90; pos <= 90+dif; pos += 1) { // goes from 0 degrees to 180 degrees
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// in steps of 1 degree
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myservo.write(pos); // tell servo to go to position in variable 'pos'
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delay(15); // waits 15ms for the servo to reach the position
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}
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// myservo.write(90+dif); // tell servo to go to position in variable 'pos'
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// delay(70);
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// myservo.write(90); // tell servo to go to position in variable 'pos'
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// delay(500); // waits 15ms for the servo to reach the position
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}
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