Library Description

This library will allow you to control multiple servo motors at once.

Key functions:

• void servo_init(uint8_t minPosition, uint8_t maxPosition, uint16_t lowResolution, uint16_t highResolution); - Main click board initialization routine.
• void servo_setMode(uint8_t mode,uint8_t _data); - Set's the operation mode of the click board.
• servo_sleep(); - The function needs to be set before setting the frequency.
• void servo_setFREQ(uint16_t freq); - Used for setting the frequency.
• void servo_setPosition(uint8_t motor, uint8_t position); - Set the position of the selected servo motor.

Example description

The application is composed of three sections:

• System Initialization - Initializes the I2C module and the CS pin as the output
• Application Initialization - Initializes the driver and the servo (setting the minimum and maximum servo motors position and resolutions). Default resolution is 1ms. The IC is set to Sleep mode in order to set the frequency, after which the working mode of the servo is set
• Application Task - (code snippet) - The servo motor is moved across three different positions: 0, 90, 180 - every two seconds. The current consumption is sampled while the servo transitions between these points

void applicationTask()
{
 servo_setPosition(_SERVO_MOTOR_1, 0);
 Delay_ms( 2000 );
 servo_setPosition(_SERVO_MOTOR_1, 90);
 Delay_ms( 1000 );
 servo_setPosition(_SERVO_MOTOR_1, 180);
 Delay_ms( 2000 );
 servo_setPosition(_SERVO_MOTOR_1, 90);

 Current = setvo_getCurrent(_SERVO_POSITIVE_CH0);
 IntToStr(Current , text);
 mikrobus_logWrite( "Current - ", _LOG_TEXT );
 mikrobus_logWrite( text, _LOG_TEXT );
 mikrobus_logWrite( " mA", _LOG_LINE );

 Delay_ms( 1000 );
}

Other MikroElektronika libraries used in the example:

• I2C Library
• UART Library
• Conversions Library
• C_String Library

ADDITIONAL NOTES AND INFORMATION

Depending on the development board you are using, you may need USB UART click, USB UART 2 click or RS232 click to connect to your PC, for development systems with no UART to USB interface available on the board. The terminal available in all MikroElektronika compilers, or any other terminal application of your choice, can be used to read the message.