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  1. #include <Wire.h>
  2. #define ADDS 0x43
  3.  
  4. #define PIN1 0x00
  5. #define PIN2 0x01
  6. #define PIN3 0x02
  7. #define PIN4 0x03
  8. #define PIN5 0x04
  9. #define PIN6 0x05
  10. #define PIN7 0x06
  11. #define PIN8 0x07
  12. #define PIN9 0x08
  13. #define PIN10 0x09
  14.  
  15. #define Servo1 0x30
  16. #define Servo2 0x31
  17. #define Servo3 0x32
  18. #define Servo4 0x33
  19. #define Servo5 0x34
  20. #define Servo6 0x35
  21. #define Servo7 0x36
  22. #define Servo8 0x37
  23.  
  24. uint16_t Readadc(uint8_t pin) {
  25.   Wire1.beginTransmission(ADDS);
  26.   Wire1.write(0x10 | pin);
  27.   Wire1.endTransmission();
  28.   Wire1.requestFrom(ADDS, 2);
  29.   uint8_t h;
  30.   uint8_t l;
  31.   while (Wire1.available()) {
  32.     h = Wire1.read();
  33.     l = Wire1.read();
  34.    
  35.   }
  36.   return word(h, l);
  37. }
  38.  
  39. void ServowriteM(uint8_t pin, uint16_t M) {
  40.   if(M<800){
  41.     M =800;
  42.   }
  43.   if(M>2300){
  44.     M =2300;
  45.   }
  46.   Wire1.beginTransmission(ADDS);
  47.   Wire1.write(pin);
  48.   Wire1.write(highByte(M));
  49.   Wire1.write(lowByte(M));
  50.   Wire1.endTransmission();
  51. }
  52. void setup() {
  53.   Wire1.begin(4,5);
  54.   Wire1.setClock(400000);
  55.   Serial.begin(115200);
  56.   delay(1000);
  57.   //setuppin(PIN1,Amode);
  58.  
  59. }
  60.  
  61. unsigned long previousMillis = 0;
  62. void loop() {
  63.   ServowriteM(Servo1,1000);
  64.   delay(1000);
  65.   ServowriteM(Servo1,2000);
  66.   delay(1000);
  67. //    unsigned long currentMillis = millis();
  68. //
  69. //  if (currentMillis - previousMillis >= 1000) {
  70. //    // save the last time you blinked the LED
  71. //    previousMillis = currentMillis;
  72. //    //uint16_t x = Readadc(PIN1);
  73. //    
  74. //    //Serial.println(x);
  75. //  }
  76.  
  77. }
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