arduino/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino

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/*
* Firmata is a generic protocol for communicating with microcontrollers
* from software on a host computer. It is intended to work with
* any host computer software package.
*
* To download a host software package, please clink on the following link
* to open the download page in your default browser.
*
* http://firmata.org/wiki/Download
*/
/* This firmware supports as many servos as possible using the Servo library
* included in Arduino 0017
*
* This example code is in the public domain.
*/
#include <Servo.h>
#include <Firmata.h>
Servo servos[MAX_SERVOS];
byte servoPinMap[TOTAL_PINS];
byte servoCount = 0;
void analogWriteCallback(byte pin, int value)
{
if (IS_PIN_DIGITAL(pin)) {
servos[servoPinMap[pin]].write(value);
}
}
void systemResetCallback()
{
servoCount = 0;
}
void setup()
{
byte pin;
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_DIGITAL(pin)) {
if (servoCount < MAX_SERVOS) {
servoPinMap[pin] = servoCount;
servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
servoCount++;
}
}
}
}
void loop()
{
while (Firmata.available())
Firmata.processInput();
}