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model servo_loop "Rotate servo motor by 20 degrees 10 times"
extends Modelica.Icons.Example;
import sComm = Arduino.SerialCommunication.Functions;
import strm = Modelica.Utilities.Streams;
Integer ok(fixed = false);
Integer c_ok(fixed = false);
Integer angle(fixed = true);
algorithm
when initial() then
ok := sComm.open_serial(1, 2, 115200) "COM port is 2 and baud rate is 115200";
if ok <> 0 then
strm.print("Check the serial port and try again");
else
sComm.cmd_servo_attach(1, 1) "Attach motor to pin 5. 1 means pin 5.";
sComm.delay(2000);
angle := 20 "Angle by which it has to move";
for i in 1:10 loop
sComm.cmd_servo_move(1, 1, angle * i) "tell servo to rotate by 20 degrees";
sComm.delay(1000) "waits for a sec";
end for;
sComm.cmd_servo_detach(1, 1) "Detach the motor";
end if;
c_ok := sComm.close_serial(1) "To close the connection safely";
end when;
annotation(
experiment(StartTime = 0, StopTime = 5, Tolerance = 1e-6, Interval = 5));
end servo_loop;
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