addeed home position

2 files changed, 85 insertions, 1 deletions

diff --git a/homeposition/homeposition.ino b/homeposition/homeposition.ino
new file mode 100644
index 0000000..ed3964f
--- /dev/null
+++ b/homeposition/homeposition.ino
@@ -0,0 +1,77 @@
+#include <Wire.h>
+#include <Adafruit_PWMServoDriver.h>
+
+Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
+uint16_t value = 0;  // Use uint16_t for a wider range of values
+uint8_t counter = 0;
+
+#define SERVOMIN  150 // This is the 'minimum' pulse length count (out of 4096)
+#define SERVOMAX  600 // This is the 'maximum' pulse length count (out of 4096)
+
+int homePosCheck =0;
+int i =0;
+void setup() {
+  Serial.begin(9600);
+
+  Serial.println("------------------------");
+  Serial.println("Servo Home Position v1.0a");
+  // Serial.println("Enter Servo Value");
+  // Serial.println("If its 2 digit values enter it with 0 as prefix");
+  // Serial.println("Eg: for 90, type 090");
+  Serial.println("------------------------");
+
+  pwm.begin();
+  pwm.setOscillatorFrequency(27000000);
+  pwm.setPWMFreq(50);
+  
+  homePos();
+}
+
+void loop() {
+  // while(homePosCheck == 0){
+  //   homePos();
+  //   homePosCheck++;
+  // }
+}
+
+
+void homePos() {
+  // (PWM Driver Pin, 0, val of servo)
+  //motor1
+  for(i=500;i>=395;i--){
+    pwm.setPWM(0, 0, i);
+    delay(5);
+  }
+  delay(100);
+  pwm.setPWM(1, 0, 110);
+  delay(100);
+  pwm.setPWM(2, 0, 250);
+  delay(100);
+  pwm.setPWM(3, 0, 380);
+  delay(100);
+  pwm.setPWM(4, 0, 430);
+  delay(100);
+  pwm.setPWM(5, 0, 490);
+  // //motor2
+  // for(i=0;i<=85;i++){
+  //   pwm.setPWM(1, 0, i);
+  //   delay(10);
+  // }
+  // //motor3
+  // for(i=0;i<=250;i++){
+  //   pwm.setPWM(2, 0, i);
+  //   delay(10);
+  // }
+  // //motor4
+  // for(i=0;i<=380;i++){
+  //   pwm.setPWM(3, 0, i);
+  //   delay(10);
+  // }
+  // //motor5
+  // for(i=0;i<=450;i++){
+  //   pwm.setPWM(4, 0, i);
+  //   delay(10);
+  // }
+
+  // pwm.setPWM(0, 0, 395);
+}
diff --git a/test/test.ino b/test/test.ino
index 845c5ea..f06f00d 100644
--- a/test/test.ino
+++ b/test/test.ino
@@ -56,8 +56,15 @@ void loop() {
 
   if (counter == 3) {
     Serial.println(value);
-    pwm.setPWM(4, 0, value); // Arguement order => (PWM Driver Pin, 0, val of servo)
+    pwm.setPWM(5, 0, value); // Arguement order => (PWM Driver Pin, 0, val of servo)
+    // pwm.setPWM(0, 1024, 3072);
     counter = 0;
     value = 0; // Reset value after using it
   }
 }
+
+
+// void homePos(){
+//     (PWM Driver Pin, 0, val of servo)
+//     pwm.setPWM(0, 0, value);
+// }