Hat Servo Arduino 使用教程

#include <M5Unified.h>

const int servo_pin = 26;
const int freq = 50;
const int resolution = 16;  // Use high resolution

void setup() {
    M5.begin();
    Serial.begin(115200);
    ledcAttach(servo_pin, freq, resolution);
}

int angleToDuty(int angle) {
    int min_us = 600;
    int max_us = 2400;

    // Ensure angle is within range
    angle = constrain(angle, 0, 165);

    int pulse_us = map(angle, 0, 165, min_us, max_us);
    int duty = (pulse_us * 65535L) / 20000;

    return duty;
}

void loop() {
    M5.Display.fillRect(0, 100, 320, 60, BLACK);
    M5.Display.setCursor(20, 100, 2);
    M5.Display.print("Moving 0->165");
    Serial.println("Moving 0->165");

    for(int angle = 0; angle <= 165; angle ++) {
        int duty = angleToDuty(angle);
        ledcWrite(servo_pin, duty);

         // Display current angle on M5StickC-Plus2
        M5.Display.fillRect(20, 120, 100, 20, BLACK);
        M5.Display.setCursor(20, 120, 2);
        M5.Display.printf("Angle: %3d", angle);
        Serial.printf("Angle: %3d\n", angle);

        delay(50);  // Control rotation speed
    }

    delay(1000);

    M5.Display.fillRect(0, 100, 320, 60, BLACK);
    M5.Display.setCursor(20, 100, 2);
    M5.Display.print("Moving 165->0");
    Serial.println("Moving 165->0");

    for(int angle = 165; angle >= 0; angle --) {
        int duty = angleToDuty(angle);
        ledcWrite(servo_pin, duty);

        M5.Display.fillRect(20, 120, 100, 20, BLACK);
        M5.Display.setCursor(20, 120, 2);
        M5.Display.printf("Angle: %3d", angle);
        Serial.printf("Angle: %3d\n", angle);

        delay(50);  // Control rotation speed
    }

    delay(1000);
}