====== Servos ======
{{wp>servo}}

  * http://www.arduino.cc/playground/Learning/SingleServoExample
  * http://www.arduino-tutorial.de/2010/08/servo-2/


===== Umbau zum Motor =====
  * http://www.freeduino.de/books/servos-f%C3%BCr-durchlauf-umbauen
  * http://www.forphys.de/Website/intface/umbau.html
  * http://www.waggers.de/kap/servoumbau.php

===== Steuerung von Servos =====
Nach den ersten Erfolgen war ich überrascht, dass die Servos nicht exakt das taten, was ich erwarte. Die Winkel stimmten nicht. Nachfolgend ein Programm, mit dem ihr die Ansteuerung eurer Servos prüfen könnt. Ihr könnt den Servo über den Serialmonitor von Arduino steuern. Das Programm gibt die Aktuelle Pulsweite zurück, so dass ihr die Grenzen ermitteln könnt.

Bedienung: <key>.</key> und <key>,</key> zum Verstellen <key>space</key> für die Mittelstellung.
Quelle: http://principialabs.com/arduino-serial-servo-control/
<code cpp>
/* 
 * NewSerialServo 
 * -------------- 
 * Servo control from the Serial port 
 * 
 * Alteration of the control interface to use < and > keys 
 * to slew the servo horn left and right.  Works best with 
 * the Linux/Mac terminal "screen" program. 
 * 
 * Created 10 December 2007 
 * copyleft 2007 Brian D. Wendt 
 * http://principialabs.com/ 
 * 
 * Adapted from code by Tom Igoe 
 * http://itp.nyu.edu/physcomp/Labs/Servo 
 */  
  
/** Adjust these values for your servo and setup, if necessary **/  
int servoPin     =  10;    // control pin for servo motor  
int minPulse     =  300;  // minimum servo position  
int maxPulse     =  6000; // maximum servo position  
int turnRate     =  100;  // servo turn rate increment (larger value, faster rate)  
int refreshTime  =  20;   // time (ms) between pulses (50Hz)  
  
/** The Arduino will calculate these values for you **/  
int centerServo;         // center servo position  
int pulseWidth;          // servo pulse width  
int moveServo;           // raw user input  
long lastPulse   = 0;    // recorded time (ms) of the last pulse  
  
  
void setup() {  
  pinMode(servoPin, OUTPUT);  // Set servo pin as an output pin  
  centerServo = maxPulse - ((maxPulse - minPulse)/2);  
  pulseWidth = centerServo;   // Give the servo a starting point (or it floats)  
  Serial.begin(4800);  
  Serial.println("      Arduino Serial Servo Control");  
  Serial.println("Press < or > to move, spacebar to center");  
  Serial.println();  
}  
  
void loop() {  
  // wait for serial input  
  if (Serial.available() > 0) {  
    // read the incoming byte:  
    moveServo = Serial.read();  
  
    // ASCII '<' is 44, ASCII '>' is 46 (comma and period, really)  
    if (moveServo == 44) { pulseWidth = pulseWidth - turnRate; }  
    if (moveServo == 46) { pulseWidth = pulseWidth + turnRate; }  
    if (moveServo == 32) { pulseWidth = centerServo; }  
  
    // stop servo pulse at min and max  
    if (pulseWidth > maxPulse) { pulseWidth = maxPulse; }  
    if (pulseWidth < minPulse) { pulseWidth = minPulse; }  
    Serial.print("pulseWidth: ");
    Serial.println(pulseWidth,DEC);
    // print pulseWidth back to the Serial Monitor (uncomment to debug)  
    // Serial.print("Pulse Width: ");  
    // Serial.print(pulseWidth);  
    // Serial.println("us");   // microseconds  
  }  
  
  // pulse the servo every 20 ms (refreshTime) with current pulseWidth  
  // this will hold the servo's position if unchanged, or move it if changed  
  if (millis() - lastPulse >= refreshTime) {  
    digitalWrite(servoPin, HIGH);   // start the pulse  
    delayMicroseconds(pulseWidth);  // pulse width  
    digitalWrite(servoPin, LOW);    // stop the pulse  
    lastPulse = millis();           // save the time of the last pulse  
  }  
}
</code>