slightly offtopic, but the servo-interface might be of interest to some people. here's my 6 legged walking roboter. there are 3 servos for every leg.
these are connected to two 4017 ic's (10 servos max each) and these are connected to the two timer-1-compare-outputs (pin 9 and 10) on the arduino. since i'm using the timer1 and interupts, the whole thing barely uses any cpu power. and you can still use the timer1-capture-input to read ppm from the receiver in parallel.regarding cpu usage. i got my prototype-uav running (big breadboard in the background of the photos) with 640Hz sample and update rate, with accelerator-sensor, pressure-sensor, 3-gyros, 10 servo output, ppm input and decoding, gps input and serial display output (had to add buffering to the Serial-library of arduino, but works :) ). the pcb is also on the way :-Dthe 4017 are really easy to work with. if there's interest, i can post the schematic and sourcecode.
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