서보모터 SG90

부품 특성 :

코드 : 

#include <Servo.h>
#define PIN_PWM 9
#define MIN 0
#define MAX 180
#define MODE 0

void UpAndDown();
void OrderBySerial();
void setMode(int mode);

Servo moter;
String readString;
String wBuf;
int theta=0;
int step = 5;
void (*func)() = UpAndDown;

void setup() {
	Serial.begin(9600);
	moter.attach(PIN_PWM, MIN,	MAX);
	moter.writeMicroseconds(20);
	setMode(0);
}

void setMode(int mode) {
	switch(mode) {
		case 1: case -1: case 'a': case 'A':
			func = UpAndDown;
			break;
		case 2: case -2: case 'b': case 'B':
			func = OrderBySerial;
			break;
	}
}

void loop() {
	func();
	delay(20);
}

void UpAndDown() {
	if (Serial.available() > 0) {
		char c = Serial.read();
		setMode(c);
	}
	
	theta += step;
	if(theta > MAX || theta < MIN){
		step = -step;
		theta += step;
	}
	Serial.println(theta);
	moter.write(theta);
}

void OrderBySerial(){
	if (Serial.available() > 0) {
		delay(3);
		char c = Serial.read();
		if((c == '\n')&&(readString.length() > 0)) {
			theta = readString.toInt();
			readString = "";

			if(theta < 0) setMode(theta);

			Serial.println(theta);
			moter.write(theta);
		}else{
			readString += c;
		}
	}
}

부품 출처 : 

https://www.devicemart.co.kr/goods/view?no=1128421

TowerPro 호환 9g 미니 서보모터 SG-90