初始化提交

arduino-cli/libraries/QDPservo2/QDPServo2.h

@@ -0,0 +1,13 @@
+#ifndef QDPservo2_h
+#define QDPservo2_h
+#include <Arduino.h>
+class QDPservo2 {
+  public:
+    QDPservo2(uint8_t pin);
+    void goAngle(int angle);
+  private:
+    uint8_t _pin;
+
+};
+
+#endif

arduino-cli/libraries/QDPservo2/QDPservo2.cpp

@@ -0,0 +1,19 @@
+#include "QDPservo2.h"
+
+
+QDPservo2::QDPservo2(uint8_t pin) {
+  pinMode(pin, OUTPUT);
+  _pin = pin;
+}
+
+void QDPservo2::goAngle(int angle) {
+ int pulsewidth = (angle * 11) + 500; //将角度转化为500-2480的脉宽值
+
+//  for (int i = 0; i < 50; i++) {
+    digitalWrite(_pin, HIGH);   //将舵机接口电平至高
+    delayMicroseconds(pulsewidth);  //延时脉宽值的微秒数
+    digitalWrite(_pin, LOW);    //将舵机接口电平至低
+    delayMicroseconds(20000 - pulsewidth);
+//  }
+  delay(100);
+}