ARDUINO MEGA Functions Motors and Servos

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The Arduino MEGA has 12 ports available for PWM generation.
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The Arduino MEGA has 12 ports available for PWM generation. These ports can be used control motors and servos to extend the capabilities of your Arduino system.  
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''Hardware Timing Servo Ports - Pin 2, 3, 5, 6, 7, 8, 11, 12 and 13.
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Hardware Timing Servo Ports - Pin 2, 3, 5, 6, 7, 8, 11, 12 and 13.
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Hardware Timing PWM (H-Bridge Friendly) Ports - Pin 4, 9, 10.''
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Hardware Timing PWM (H-Bridge Friendly) Ports - Pin 4, 9, 10.
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Users can use the "Motors and Sensor Setup" utility (found under the Robot menu) to configure their ports for the various types of motors:
 
Users can use the "Motors and Sensor Setup" utility (found under the Robot menu) to configure their ports for the various types of motors:
 
[[File:ArduinoMegaMotorsSensorsSetup.png]]
 
[[File:ArduinoMegaMotorsSensorsSetup.png]]
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|<span class="keywordB" id="dataType_TBaudRate">Available Motor Types</span>
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  ! style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|''Motor Type''
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  ! style="text-align:left; border-style: solid; border-width: 0px 0px 1px 0px"|Comments
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''No Servo/Motor'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generate no PWM from this pin.
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  |-
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Audio Speaker'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Use this Pin to generate Audio output (piezo-electric speaker compatible)
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Servo - Standard'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generate a 20ms-based Servo Pulse
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Servo - Cont. Rotation'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generate a 20ms-based Continuous Rotation Servo Pulse
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Ext-HBridge - Single PWM'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generates a standard PWM pulse and associates a second digital out pin to control the direction. Used for HBridges that have High/Low direction control.
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Ext-HBridge - Dual PWM'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generates a standard PWM pulse on two pins for speed and direction control. Used for HBridges that have PWM based direction control.
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Variable Intensity LED'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generates a standard PWM pulse on a single pin for brightness control of a LED.
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  | style="text-align:left; border-style: solid; border-width: 1px 0px 1px 0px"|'''Analog Write'''
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  | style="text-align:right; border-style: solid; border-width: 1px 0px 1px 0px"|Generates a standard PWM pulse on a single pin for analog output.
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Revision as of 07:58, 10 May 2012

ARDUINO → Functions and Variables → ARDUINO MEGA Functions Motors and Servos


The Arduino MEGA has 12 ports available for PWM generation. These ports can be used control motors and servos to extend the capabilities of your Arduino system. Hardware Timing Servo Ports - Pin 2, 3, 5, 6, 7, 8, 11, 12 and 13. Hardware Timing PWM (H-Bridge Friendly) Ports - Pin 4, 9, 10.

Users can use the "Motors and Sensor Setup" utility (found under the Robot menu) to configure their ports for the various types of motors: ArduinoMegaMotorsSensorsSetup.png

Available Motor Types
Motor Type Comments
No Servo/Motor Generate no PWM from this pin.
Audio Speaker Use this Pin to generate Audio output (piezo-electric speaker compatible)
Servo - Standard Generate a 20ms-based Servo Pulse
Servo - Cont. Rotation Generate a 20ms-based Continuous Rotation Servo Pulse
Ext-HBridge - Single PWM Generates a standard PWM pulse and associates a second digital out pin to control the direction. Used for HBridges that have High/Low direction control.
Ext-HBridge - Dual PWM Generates a standard PWM pulse on two pins for speed and direction control. Used for HBridges that have PWM based direction control.
Variable Intensity LED Generates a standard PWM pulse on a single pin for brightness control of a LED.
Analog Write Generates a standard PWM pulse on a single pin for analog output.


Contents
Color Key
Function:
Variable:


bMotorReflected

bool bMotorReflected
(bool) Boolean array with one entry for each motor. Indicates that the direction of a motor should be reflected 180 degrees. Useful when mechanical design results in a logical "reversed" condition of a motor. 
bMotorReflected[motor_2] = true;   // motor 1 WILL be reflected 180 degrees
bMotorReflected[motor_2] = false;  // motor 1 will NOT be reflected 180 degrees


motor

int motor[tMotor motor]
(int) An array variable with one element for each of the possible motors.

When used with a motor, this command is used to set the speed (-127 to +127) for a motor. Negative values are reverse; positive forward. Zero is stopped.

When used with a servo, this command is used to set the position (-127 to +127) of the servo. Zero is the "center" position of the servo, and -127 to +127 is the range of the servo. Note that your servo may not be able to travel the full -127 to +127 range, so please experiment with smaller values to avoid breaking your servo.

Parameter Explanation Data Type
motor A motor port or name tMotor 
motor[motor_2] = 127;   // motor pin 2 is given a power level of 127 (forward)
motor[motor_2] = -127;  // motor pin 2 is given a power level of -127 (reverse)


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