#--------motor control class--------------------------------
pt=[D8,D9,D5,D6,D3,D10]
class Motor
def initialize(pt,t,pr)
@tt=t
@a= AnalogIO.new(pt,OUTPUT,10,t,pr)
end
def go(kaku)
pwm= @tt/2+(@tt/3)*kaku/90
@a.write pwm
end
end
pre=100000
servo_Motor8=Motor.new(pt[0],300,pre/2)
servo_Motor9=Motor.new(pt[1],300,pre) #3msec
servo_Motor5=Motor.new(pt[2],300,pre) #3msec
servo_Motor6=Motor.new(pt[3],300,pre/2)
servo_Motor3=Motor.new(pt[4],300,pre) #3msec
servo_Motor10=Motor.new(pt[5],300,pre/2)
#------制御ループ----------------------------------
loop do
servo_Motor8.go(0)
servo_Motor9.go(0)
servo_Motor5.go(0)
servo_Motor6.go(0)
servo_Motor3.go(0)
servo_Motor10.go(0)
delay(500)
end