Monkeys_RobotCode_2023/DeviceDriverSet_xxx0_ServoControl.cpp at main · raccrobotics/Monkeys_RobotCode_2023 · GitHub

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/*
 * @Author: ELEGOO
 * @Date: 2019-10-22 11:59:09
 * @LastEditTime: 2020-06-12 16:36:20
 * @LastEditors: Changhua
 * @Description: conqueror robot tank
 * @FilePath:
 */
#include "DeviceDriverSet_xxx0_ServoControl.h"
#include <arduino.h>
/*Servo*/

Servo myservo; // create servo object to control a servo
void DeviceDriverSet_Servo::DeviceDriverSet_Servo_Init(unsigned int Position_angle)
{
  myservo.attach(PIN_Servo_z, 500, 2400); //500: 0 degree  2400: 180 degree
  myservo.attach(PIN_Servo_z);
  myservo.write(Position_angle); //sets the servo position according to the 90（middle）
  delay(500);

}
#if _Test_DeviceDriverSet
void DeviceDriverSet_Servo::DeviceDriverSet_Servo_Test(void)
{
  for (;;)
  {
    myservo.attach(PIN_Servo_z);
    myservo.write(180);
    delay(500);
    myservo.write(0);
    delay(500);
  }
}
#endif

/*0.17sec/60degree(4.8v)*/
void DeviceDriverSet_Servo::DeviceDriverSet_Servo_control(unsigned int Position_angle)
{
  myservo.attach(PIN_Servo_z);
  myservo.write(Position_angle);
  delay(450);
  myservo.detach();
}