1 | /*
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2 | * Firmata is a generic protocol for communicating with microcontrollers
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3 | * from software on a host computer. It is intended to work with
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4 | * any host computer software package.
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5 | *
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6 | * To download a host software package, please clink on the following link
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7 | * to open the download page in your default browser.
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8 | *
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9 | * http://firmata.org/wiki/Download
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10 | */
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11 |
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12 | /* This firmware supports as many servos as possible using the Servo library
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13 | * included in Arduino 0017
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14 | *
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15 | * This example code is in the public domain.
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16 | */
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17 |
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18 | #include <Servo.h>
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19 | #include <Firmata.h>
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20 |
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21 | Servo servos[MAX_SERVOS];
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22 | byte servoPinMap[TOTAL_PINS];
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23 | byte servoCount = 0;
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24 |
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25 | void analogWriteCallback(byte pin, int value)
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26 | {
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27 | if (IS_PIN_DIGITAL(pin)) {
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28 | servos[servoPinMap[pin]].write(value);
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29 | }
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30 | }
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31 |
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32 | void systemResetCallback()
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33 | {
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34 | servoCount = 0;
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35 | }
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36 |
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37 | void setup()
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38 | {
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39 | byte pin;
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40 |
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41 | Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
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42 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
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43 | Firmata.attach(SYSTEM_RESET, systemResetCallback);
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44 |
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45 | Firmata.begin(57600);
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46 | systemResetCallback();
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47 |
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48 | // attach servos from first digital pin up to max number of
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49 | // servos supported for the board
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50 | for (pin = 0; pin < TOTAL_PINS; pin++) {
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51 | if (IS_PIN_DIGITAL(pin)) {
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52 | if (servoCount < MAX_SERVOS) {
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53 | servoPinMap[pin] = servoCount;
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54 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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55 | servoCount++;
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56 | }
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57 | }
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58 | }
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59 | }
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60 |
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61 | void loop()
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62 | {
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63 | while (Firmata.available())
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64 | Firmata.processInput();
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65 | }
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