Changeset 224 for rtos_arduino/trunk/arduino_lib/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino

Timestamp:

Apr 30, 2016, 11:29:25 PM (8 years ago)

Author:

ertl-honda

Message:

1.7.10のファイルに更新

File:

• rtos_arduino/trunk/arduino_lib/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino (modified) (4 diffs)

rtos_arduino/trunk/arduino_lib/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino

@@ -13 +13 @@
  * included in Arduino 0017
  *
- * TODO add message to configure minPulse/maxPulse/degrees
- *
  * This example code is in the public domain.
  */
@@ -22 +20 @@
 
 Servo servos[MAX_SERVOS];
+byte servoPinMap[TOTAL_PINS];
+byte servoCount = 0;
 
 void analogWriteCallback(byte pin, int value)
 {
-  if (IS_PIN_SERVO(pin)) {
-    servos[PIN_TO_SERVO(pin)].write(value);
+  if (IS_PIN_DIGITAL(pin)) {
+    servos[servoPinMap[pin]].write(value);
   }
+}
+
+void systemResetCallback()
+{
+  servoCount = 0;
 }
 
@@ -34 +39 @@
   byte pin;
 
-  Firmata.setFirmwareVersion(0, 2);
+  Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
   Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
+  Firmata.attach(SYSTEM_RESET, systemResetCallback);
 
+  Firmata.begin(57600);
+  systemResetCallback();
+
+  // attach servos from first digital pin up to max number of
+  // servos supported for the board
   for (pin = 0; pin < TOTAL_PINS; pin++) {
-    if (IS_PIN_SERVO(pin)) {
-      servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
+    if (IS_PIN_DIGITAL(pin)) {
+      if (servoCount < MAX_SERVOS) {
+        servoPinMap[pin] = servoCount;
+        servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
+        servoCount++;
+      }
     }
   }
-
-  Firmata.begin(57600);
 }
 
@@ -51 +64 @@
     Firmata.processInput();
 }
-