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#include <pigpio.h> #include <iostream> #include <unistd.h> // For sleep() int main() { // Initialize the pigpio library if (gpioInitialise() < 0) { std::cerr << "Failed to initialize pigpio" << std::endl; return 1; } // Set GPIO pin number unsigned int pin = 14; // Set servo parameters int mid_pulse_width = 1500; // Mid pulse width in microseconds // Set GPIO pin mode to output if (gpioSetMode(pin, PI_OUTPUT) != 0) { std::cerr << "Failed to set GPIO mode" << std::endl; gpioTerminate(); return 1; } // Set servo to mid position if (gpioServo(pin, mid_pulse_width) != 0) { std::cerr << "Failed to set servo to mid position" << std::endl; gpioTerminate(); return 1; } std::cout << "Servo mid" << std::endl; sleep(3); // Move servo while (true) { // Move from -90° to 90° for (int i = -10; i <= 10; ++i) { gpioServo(pin, mid_pulse_width + i * 100); // Adjust pulse width for movement sleep(2); } // Move from 90° to -90° for (int i = 10; i >= -10; --i) { gpioServo(pin, mid_pulse_width + i * 100); // Adjust pulse width for movement sleep(2); } } // Terminate pigpio library gpioTerminate(); return 0; }
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