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lab7

The document is a code snippet for controlling an HXT900 servo using an ATmega328PB microcontroller. It sets up Timer 0 for PWM output on pin PD5 and cycles through four predefined servo positions. The code continuously updates the servo position with a delay of 100 milliseconds between each change.

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rowen prather
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3 views

lab7

The document is a code snippet for controlling an HXT900 servo using an ATmega328PB microcontroller. It sets up Timer 0 for PWM output on pin PD5 and cycles through four predefined servo positions. The code continuously updates the servo position with a delay of 100 milliseconds between each change.

Uploaded by

rowen prather
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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#define F_CPU 16000000UL

#include <avr/io.h>

#include <util/delay.h>

static uint8_t posit[4]={0,45,-45,45}; //position of servo

int main ( void )

{//https://docplayer.net/100038445-This-about-using-an-atmega328pb-xplained-mini-to-drive-an-
hxt900-servo-with-a-16-bit-timer-see-link-1-at-the-end-of-this-document.html

// CONNECT THE SERVO https://www.avrfreaks.net/forum/tut-atmega328pb-8-bit-timer-servo-pwm-


hxt900

DDRD |= (1 << DDD5); //Set pin PD5 as output for OC0B

// Timer 0 setup pwm

TCCR0A = 0x21; // Set OCR2B Table 18-8 in Datasheet. & Table 18-9.

TCCR0B = 8; // Set WMG0[2]; tABLE 18-9

TCNT0 = 0; // clear counter

OCR0A = 156; // 20 ms period = 20000 us.

OCR0B = 4; //

TCCR0B |= 5; //set clock to divide by 1024 and start tALBE 18-10

while (1)

for (uint8_t ii = 0;ii < 4;ii++) // cycle through the positions low - middle -

//high - middle - low

OCR0B = posit[ii]; //sets the new position

_delay_ms(100);

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