1 files changed, 53 insertions, 0 deletions
diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino
new file mode 100644
index 0000000..cdcfff0
--- /dev/null
+++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino
@@ -0,0 +1,53 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
+/* This firmware supports as many servos as possible using the Servo library 
+ * included in Arduino 0017
+ *
+ * TODO add message to configure minPulse/maxPulse/degrees
+ *
+ * This example code is in the public domain.
+ */
+ 
+#include <Servo.h>
+#include <Firmata.h>
+
+Servo servos[MAX_SERVOS];
+
+void analogWriteCallback(byte pin, int value)
+{
+    if (IS_PIN_SERVO(pin)) {
+        servos[PIN_TO_SERVO(pin)].write(value);
+    }
+}
+
+void setup() 
+{
+    byte pin;
+
+    Firmata.setFirmwareVersion(0, 2);
+    Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
+
+    for (pin=0; pin < TOTAL_PINS; pin++) {
+        if (IS_PIN_SERVO(pin)) {
+	    servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
+        }
+    }
+   
+    Firmata.begin(57600);
+}
+
+void loop() 
+{
+    while(Firmata.available())
+        Firmata.processInput();
+}
+