First Servomotor Control Program

First Servomotor Control Program
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In our first program , we will simply sweep the servomotor from CCW to CW and then sweep back. The program
will be kept simple as to demonstrate the priniciples of controlling a servo with a the PIC Basic language. The
schematic can be seen in figure 2 (below).

The variable pw controls the pulsewidth, and is started at 100 (extreme left, -45 degrees). The program sends the
pulse out to the servo, and then is increased by a value of 1 until it reaches 200 (extreme right, 45 degrees), at
which point it will reverese the rotation.
----Listing 1----
' First servomotor program
' Sweeps left to right, then reverses
Symbol B1 = pw ' create a variable pw
pw = 100 ' start at extreme left
sweep: pulsout 0,pw ' send pulse to motor
pause 18 ' set frequency to about 50 Hz
pw = pw + 1 ' increase pw by 1

http://www.imagesco.com/articles/picservo/02.html (1 of 2)02-03-2006 2:49:44 pm
if pw > 200 then back ' at extreme right, turn CCW
goto sweep ' otherwise, continue
back: pulsout 0,pw ' send pulse to motor
pw = pw - 1 ' decrease pw by 1
if pw < 100 then sweep ' at extreme left, turn CW
goto back ' otherwise, continue
----End of Listing 1----
If desired, we could extend the rotation of the servomotor to a full 180 degrees (-90 to 90 degrees) rotation by
decreasing the minimum pulsewidth to below 1 ms and increasing the maximum pulsewidth to over 2 ms. This can
be accomplished with our previous program by modifying the occurances of 100 and 200 to your desired minimum
and maximum pulsewidths, respectivly.
However, a note of caution: the pulsewidth required for servos varies from brand to brand. One motor may require
a 2.8 ms pulsewidth for maximum rotation, while another may only need 2.4 ms.
Furthermore, servomotors have end stops that limit its rotation. If you send the motor a pulsewidth that is beyond
the end stops, the motor will keep trying to turn. A motor in this stalled condition not only draws more current, but
also puts wear on the internal gears, shortening the lifespan of the motor.

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Manual Servomotor Control


Manual Servo Control
Our next program will allow you to control the direction of the servo manually via a SPDT switch (with a center-off
position) connected to ports B1 and B2. Without a center-off position, you will have to use two switches. A
schematic is shown in figure 3 (below).

With the switch in the center position, the servo will not turn. When it is moved into forward, it will turn one way.
Moving the switch down will make it turn the opposite direction. This program as-is will limit rotation to 45 degrees
off-center, but can be modified to extend rotation through the aforementioned methods.
----Listing 2----
' Manual control of servo direction via
' an SPDT switch.
Symbol B1=pw ' create a variable pw
pw = 150 ' begin at center position
check: if pin1 = 0 then left ' is pin 1 active?
if pin2 = 0 then right ' is pin 2 active?

Manual Servomotor Control
Pulsout 0,pw ' send current pw
goto check ' check again
left: pw = pw + 1 ' increase pulsewidth
pulsout 0,pw ' send current pw
if pw > 200 then max ' dont go over 2 ms
goto check ' go back and check again
right: pw = pw - 1 ' decrease pulsewidth
pulsout 0,pw ' send current pw
if pw < 100 then min ' dont go under 1 ms
max: pw = 200 ' cap pw at 2 ms
min: pw = 100 ' cap at 1 ms

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Multiple Servomotors


Using a modified version of the last program, we can control as many servomotors as we have I/O lines on port B.
In the next listing, we will control two servos in the same manner as we controlled a single servo in the previous
program. The circuit is shown in figure 4 (below).

The program uses two pulsewidth variables, pw1 and pw2; and two sets of routines, left1 and left2, right1 and
right2; one for each motor. As you can see in the schematic, the first servo is wired as per the previous circuit.
The second servo is now using B3 as it's pulse out, and B4 and B5 for the SPDT switch.
----Listing 3----

'Manual control of two servomotors using 2 SPDT switches
'Use B1 to hold pulsewidth variable for servo 1
'Use B2 to hold pulsewidth variable for servo 2
'Initialize Variables
B1 = 150 'start servo 1 at center position
B2 = 150 'start servo 2 at center position
start: 'check for switch closures
IF pin1 = 0 Then left1 'is sw1 left active?
IF pin2 = 0 Then right1 'is sw1 right active?
IF pin4 = 0 Then left2 'is sw2 left active?
IF pin5 = 0 Then right2 'is sw2 right active?
PulsOut 0, B1 'send current servo 1 position out
PulsOut 3, B2 'send current servo 2 position out
Pause 18
GoTo start
'Routines for Servomotor 1
left1:
B1 = B1 + 1 'increase the pulse width
PulsOut 0, B1 'send current B1
Pause 18 'set frequency update about 50 hz
IF B1 > 225 Then max1 'maximum 2.25 millisecond
GoTo start
right1:
B1 = B1 - 1 'decrease the pulse width
IF B1 < 75 Then min1 'minimum .75 millisecond
GoTo start
max1:
B1 = 225 'cap max B1 at 2.25 milliseconds
GoTo start
min1:
B1 = 75 'cap min B1 at .75 millisecond
GoTo start
'Routines for Servomotor 2
left2:
B2 = B2 + 1 'increase the pulse width
IF B2 > 225 Then max2 'maximum 2.25 millisecond
GoTo start
right2:
B2 = B2 - 1 'decrease the pulse width

IF B2 < 75 Then min2 'minimum .75 millisecond
GoTo start
max2:
B2 = 225 'cap max B2 at 2.25 milliseconds
GoTo start
min2:
B2 = 75 'cap min B2 at .75 millisecond
GoTo start
Catalog Page for PIC Microcontrollers
(a kit containing all necessary parts is available)
Catalog Page for Servo Motors

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