22 lines
1.1 KiB
Markdown
22 lines
1.1 KiB
Markdown
This module includes an arduino sketch designed to run on the ESP32.
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The sketch takes simple input from serial (ESP32 microusb port), and converts the input to a duty cycle that can be used on servos.
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The protocol specification is as follows, assuming an array of bytes:
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| Byte Number | Value Description |
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| :---------- | ----------: |
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| 0 | 0 if Calibrating a servo. Higher values indicates channel number to set duty cycle on. |
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| 1 | If byte 0 = 0: number of servos to calibrate. Else, the new duty cycle value for the channel specified in byte 0. |
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The table below describes the byte format for calibrating a servo. This array of bytes can be repeated for the given number of servos in byte 1:
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| Byte Number | Value Description |
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| :---------- | ----------: |
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| 0 | Servo channel to set (this will be byte 0 when setting duty cycle, so don't use 0). |
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| 1 | The pin number to setup |
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The min/max pulse widths are hardcoded to 1000us/2000us respectively.
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At the end of each loop, the entire array will be read, to flush any data that may cause issues later. |