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CodeExamples/ServoExample/main.cpp

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+#include "ServoMotor.h"
+#include "Gpio.h"
+#include <thread>
+
+/// <summary>
+/// This program demonstrates how to setup and control servos,
+/// Also this program requires pthread, ServoMotor, Gpio, Timer libraries
+/// ServoMotor, Gpio, Timer are part of Project Doly, libararies and headers are located under '/Doly'
+/// Do not forget to Copy and Link related libraries.
+/// </summary>
+
+int main()
+{
+	// Setup Servo power control GPIO as output and set HIGH as a default value
+	GPIO::init(Pin_Servo_Left_Enable, GPIO_OUTPUT, HIGH);
+	GPIO::init(Pin_Servo_Right_Enable, GPIO_OUTPUT, HIGH);
+
+	// Initialize and configure servo motors
+	ServoMotor::Init();
+	// Setup needs channel, bandwitdh range, max angle and working direction parameters
+	// Setup ignores the 'max angle' parameter for both arm servos, however they are already defined internally.
+	ServoMotor::setup(SERVO_LEFT, 500, 2500, SERVO_ARM_MAX_ANGLE, false);
+	ServoMotor::setup(SERVO_RIGHT, 500, 2500, SERVO_ARM_MAX_ANGLE, true);
+
+	// Sets servo zero positions
+	// The 'speed' paramater range between 1-100
+	ServoMotor::set(SERVO_LEFT, 0, 100);
+	ServoMotor::set(SERVO_RIGHT, 0, 100);
+
+	// wait to get zero position
+	std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+
+
+	// Sets servo positions
+	// The 'speed' paramater range between 1-100
+	ServoMotor::set(SERVO_LEFT, 90, 1);
+	ServoMotor::set(SERVO_RIGHT, 90, 1);
+
+	// wait
+	std::this_thread::sleep_for(std::chrono::milliseconds(5000));
+
+	ServoMotor::set(SERVO_LEFT, SERVO_ARM_MAX_ANGLE, 100);
+	ServoMotor::set(SERVO_RIGHT, SERVO_ARM_MAX_ANGLE, 100);
+
+	// wait servo
+	std::this_thread::sleep_for(std::chrono::milliseconds(3000));
+
+	// disable servo power
+	GPIO::writePin(Pin_Servo_Left_Enable, LOW);
+	GPIO::writePin(Pin_Servo_Right_Enable, LOW);
+
+	return 0;
+}