servo.attach(pin) //连接伺服电机的信号线于控制板的引脚，9或10号引脚
servo.attach(pin, min, max)
servo: a variable of type Servo
pin: the number of the pin that the servo is attached to
min (optional): the pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo (defaults to 544)
max (optional): the pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo (defaults to 2400)
Description：Attach the Servo variable to a pin. Note that in Arduino 0016 and earlier, the Servo library supports only servos on only two pins: 9 and 10.
servo.write(angle) ///用度控制伺服电机的角度，0-180度
angle: the value to write to the servo, from 0 to 180
Description：On a continuous rotation servo, this will set the speed of the servo (with 0 being full-speed in one direction, 180 being full speed in the other, and a value near 90 being no movement).
servo.writeMicroseconds(uS) //用微妙控制伺服电机角度，1000-1500-2000微妙
uS: the value of the parameter in microseconds (int)
Description：On standard servos a parameter value of 1000 is fully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle.
servo.read() //读取伺服电机的旋转角度，1-180度
Returnsthe angle of the servo, from 0 to 180 degrees.
Description：Read the current angle of the servo (the value passed to the last call to write())
servo.attached() //伺服电机信号线是否连接到控制板
Returnstrue if the servo is attached to pin; false otherwise.
Description：check whether the Servo variable is attached to a pin.
servo.detach() //解除伺服电机与控制板的信号连接
Description：Detach the Servo variable from its pin. If all Servo variables are detached, then pins 9 and 10 can be used for PWM output with analogWrite().
举例
1 #include <Servo.h> 2 Servo myservo; 3 4 void setup() 5 { 6 myservo.attach(9); // attach servo to pin 9 7 } 8 9 void loop() 10 { 11 if(myservo.attached()==true) 12 { 13 myservo.write(90); // set servo to mid-point 14 delay(10); 15 myservo.write(0); // set servo to 0 degree 16 delay(10); 17 myservo.write(180); // set servo to 180 degree 18 delay(20); 19 20 myservo.writeMicroseconds(1500); // set servo to mid-point 21 delay(10); 22 myservo.writeMicroseconds(1000); // set servo to 0 degree 23 delay(10); 24 myservo.writeMicroseconds(1500); // set servo to 180 degree 25 delay(20); 26 } 27 delay(2000); 28 myservo.detach(); 29 }
运行效果
如果伺服电机连接到控制板，则先回到中点，再转到0度，再转到180度，重复循环一次，延时，解除伺服电机与控制板的连接。