calibration.html

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>


Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();


// Typical min and max pulse lengths. Adjust if needed.
#define SERVO_MIN  150
#define SERVO_MAX  600


int selectedPin = 0;
int currentAngle = 90;


void setup() {
  Serial.begin(115200);
  pwm.begin();
  pwm.setPWMFreq(50); // 50 Hz for analog servos
  delay(10);

  Serial.println("Servo Calibration Ready.");
  Serial.println("Commands:");
  Serial.println("  p <pin>     : Select servo channel (0-15)");
  Serial.println("  a <angle>   : Move to angle (0-180)");
  Serial.println("  + / -       : Increase or decrease angle by 5");
}


int angleToPWM(int angle) {
  angle = constrain(angle, 0, 180);
  return map(angle, 0, 180, SERVO_MIN, SERVO_MAX);
}


void loop() {
  if (Serial.available()) {
    String input = Serial.readStringUntil('\n');
    input.trim();


    if (input.startsWith("p ")) {
      selectedPin = input.substring(2).toInt();
      Serial.print("Selected pin: ");
      Serial.println(selectedPin);
    }
    else if (input.startsWith("a ")) {
      currentAngle = input.substring(2).toInt();
      currentAngle = constrain(currentAngle, 0, 180);
      pwm.setPWM(selectedPin, 0, angleToPWM(currentAngle));
      Serial.print("Moved to angle: ");
      Serial.println(currentAngle);
    }
    else if (input == "+") {
      currentAngle += 5;
      currentAngle = constrain(currentAngle, 0, 180);
      pwm.setPWM(selectedPin, 0, angleToPWM(currentAngle));
      Serial.print("Angle increased to: ");
      Serial.println(currentAngle);
    }
    else if (input == "-") {
      currentAngle -= 5;
      currentAngle = constrain(currentAngle, 0, 180);
      pwm.setPWM(selectedPin, 0, angleToPWM(currentAngle));
      Serial.print("Angle decreased to: ");
      Serial.println(currentAngle);
    }
    else {
      Serial.println("Unknown command.");
    }
  }
}