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210 Chapter Twelve

goto start
max2:
b2 = 254 ‘Cap max b2 at 2.54 milliseconds
goto start
min2:
b2 = 75 ‘Cap min b2 at .75 millisecond
goto start

‘Routines for servomotor 4
left4:
b3 = b3 + 1 ‘Increase the pulse width
if b3 > 254 then max3 ‘Maximum 2.54 milliseconds
goto start
right4:
b3 = b3 ­ 1 ‘Decrease the pulse width
if b3 < 75 then min3 ‘Minimum .75 millisecond
goto start
max3:
b3 = 254 ‘Cap max b3 at 2.54 milliseconds
goto start
min3:
b3 = 75 ‘Cap min b3 at .75 millisecond
goto start

‘Routines for servomotor 5
left5:
b4 = b4 + 1 ‘Increase the pulse width
if b4 > 254 then max4 ‘Maximum 2.54 milliseconds
goto start
right5:
b4 = b4 ­ 1 ‘Decrease the pulse width
if b4 < 75 then min4 ‘Minimum .75 millisecond
goto start
max4:
b4 = 254 ‘Cap max b4 at 2.54 milliseconds
goto start
min4:
b4 = 75 ‘Cap min b4 at .75 millisecond
goto start
end

Figure 12.33 is a photograph of the five­servomotor controller.
The robotic arm servomotors can plug right onto the three position headers
on the main board. However, to separate the control board from the robotic
arm, I used five 24­in servomotor extensions. Once wired, each SPDT switch
controls one robotic arm servomotor (see Fig. 12.34).
When using the robotic arm, I noticed the arm move too quickly for me to
perform fine movements. So to slow it down, I added a delay routine. This fol­
lowing program is identical to the above program, with the exception of the
delay routine(s).