![]() ![]() IsFirstValue = true //Reset since starting new testĪfter a few test, it was measured that the angular velocity of the servo at 5v was around 40rpm, which was close to the expected value as the datasheet. IsFirstValue = false //Print the output in next turnĮlse if (count >= ROT_TEST + 1 & acwTest) //+1 Is to ignore first reading OneRound = currentMillis - previousMillis Unsigned long previousMillis = 0 // will store last time LED was updated #define ROT_TEST 3 // Get 3 rounds of valueīool noMagnet //Used to ignore the first reading of each rpm reading #define TARGETPOS 40 // Target encoder position Note: The values of the servo position differs when rotating in different direction! #include #Continuous servo motor arduino code fullWhen the position is below 300, the servo would rotate at around 22% of the maximum speed (40rpm*0.22=~8.8rpm), else it would be rotating at full speed around 40rpm. After which, it would proceed into a while loop as long as the current position is not equal to the target position. The current position would be offset by 10 as the current position may be the same as the set point (which is 40). #Continuous servo motor arduino code codeWhat this code does is that the servo would first be initialized and it would get the current encoder position. In this test, we would be reading the position of the servo via the encoder & moving the servo towards the specified position of the Continuous Rotational Servo FB5311M-360. Writing 90 to the servo would stop the motor, whereas writing > 90 would turn the servo clockwise, and writing less than 90 would turn the motor anti-clockwise. Instead of writing the position to the servo, the speed of the servo would be written instead. The same library which is used to control a servo, Servo.h, would be used to control this servo. – Orange: ENC Controlling the Servo Motor ![]() Note: The pins of the schematics would be mapped accordingly to the colour scheme of the servo as shown below: A 5V regulator is used to provide power to the servo as the current draw by the servo may be too high, which may damage the Arduino. The Arduino Uno would be powered by a 11.1V LiPO battery through the barrel jack adapter. Components Arduino UnoįB5311M-360 Continuous Rotation Servo Motor (Since the internal potentiometer that determines the Servo’s position is removed.) However, the unique feature of this continuous rotation servo is that it has an encoder pin that current position of the servo could be determined, on top of the usual speed control pin commonly found. RC Servos are pretty useful in applications that require position (angle) base control, but when speed control is required instead, these RC servos are modified to become continuous rotation servo motors! In this tutorial, the FB5311M-360 Continuous rotation servo would be explored via a few examples, which consists of an extra encoder pin other than the 3 usual pins: VCC, GND, SIG.Ĭontinuous rotation servo motors allow one to control the speed of the service motor instead of positional control.
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