#--------Servo motor control class--------------------------------
class Servo_2Motor
def initialize(pt1,pt2)
@tt=300; pr=100000
@ku = AnalogIO.new(pt1,OUTPUT,10,@tt,pr/2)
@ma = AnalogIO.new(pt2,OUTPUT,10,@tt,pr)
end
def asikubi(kaku)
pwm= @tt/2+(@tt/3)*kaku/90
@ku.write pwm
end
def mata(kaku)
pwm= @tt/2+(@tt/3)*kaku/90
@ma.write pwm
end
end
#------init------------
pt=[D8,D9,D5,D6]
migi = Servo_2Motor.new(pt[0],pt[1])
hidari = Servo_2Motor.new(pt[3],pt[2])
migi.asikubi(0); migi.mata(0)
hidari.asikubi(0); hidari.mata(0)
delay(500)
#-------main loop------------------
loop do
migi.mata(-15); hidari.mata(-15)
delay(800)
migi.asikubi(-30)
delay(700)
migi.asikubi(-60); hidari.asikubi(-25)
delay(500)
migi.asikubi(0)
delay(500)
hidari.asikubi(0)
delay(500)
end