rass_serva

#include <SoftwareSerial.h>
#include <Wire.h>
#include "HCPCA9685.h"
#define I2CAdd 0x40
HCPCA9685 HCPCA9685(I2CAdd);
#define SERVO_TRIM_MIN 10
#define SERVO_TRIM_MAX 330
// #include <Adafruit_GFX.h>                  // knihovna pro grafiku
#include <Adafruit_SSD1306.h>              // knihovna pro OLED
#define SCREEN_WIDTH 128                   // OLED display delka, v pixelech
#define SCREEN_HEIGHT 32                   // OLED display vyska, v pixelech
#define OLED_RESET    -1                   // Reset pin # (or -1 if sharing Arduino reset pin)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

int servo;
int uhel;
int led1 = A2;
int led2 = A3;
int led3 = A4;
int led = 13;

void setup() {
  Wire.begin();
  Serial.begin(115200);
  display.begin();
  //display.display();
  display.clearDisplay();           // vycisteni displeje
  display.print(" nacitam ");
  display.setTextColor(WHITE);             // nastavi OLED na bilou barvu
  display.setCursor(5, 0);                 // OLED display nastaveni pozice
  display.setTextSize(1);                  // OLED display nastaveni velikosti pisma
  delay(1000);
  display.clearDisplay();
  display.print(" nacitam setup ");
  Serial.println(" nacitam setup ");
  pinMode(led, OUTPUT);
  HCPCA9685.Init(SERVO_MODE);
  HCPCA9685.Sleep(false);
  delay(1000);
  display.clearDisplay();
  display.setCursor(5, 10);
  display.setTextSize(2);
  Serial.println(" nastaveno ");
  display.print(" nastaveno ");
  display.display();
}

void loop()
{
   if (Serial.available() > 3)   {             //   zacatek cteni ( servo . uhel )
    servo =  Serial.readStringUntil('.').toInt();
    uhel =  Serial.readStringUntil('\n').toInt();
    Serial.print(servo);
    Serial.print(" . ");
    Serial.println(uhel);
    display.clearDisplay();
    display.print(servo, uhel);
    HCPCA9685.Servo(servo, uhel);             //   nastaveni serva na uhel
  }                                           //   konec cteni

  int x = Serial.available();
  if ( x == 2 )
  {
    char pismeno = Serial.read();
    Serial.println(pismeno);
    display.clearDisplay();
    display.print(pismeno);
    switch (pismeno)                             // LED13  BLIKANI
    {
      case 'b':
        digitalWrite(led, HIGH);
        delay (200);
        digitalWrite(led, LOW);
        delay (200);
        digitalWrite(led, HIGH);
        delay (200);
        digitalWrite(led, LOW);
        delay (200);
        digitalWrite(led, HIGH);
        delay (200);
        digitalWrite(led, LOW);
        delay (200);
        digitalWrite(led, HIGH);
        delay (200);
        digitalWrite(led, LOW);
        delay (200);
        digitalWrite(led, HIGH);
        delay (200);
        digitalWrite(led, LOW);
        delay (200);
        break;
      case 'v':                              // vrteni ocasem
        {
          HCPCA9685.Servo(1, 100);
          delay(100);
          HCPCA9685.Servo(1, 280);
          delay(100);
          HCPCA9685.Servo(1, 100);
          delay(100);
          HCPCA9685.Servo(1, 280);
          delay(100);
          HCPCA9685.Servo(1, 100);
          delay(100);
          HCPCA9685.Servo(1, 280);
          delay(100);
          HCPCA9685.Servo(1, 100);
          delay(100);
          HCPCA9685.Servo(1, 280);
          delay(100);
          HCPCA9685.Servo(1, 170);
        }
        break;
      case 'k':                                  // jeden krok
        {
          HCPCA9685.Servo(8, 200);
          HCPCA9685.Servo(10, 110);
          delay(400);
          HCPCA9685.Servo(4, 180);
          HCPCA9685.Servo(6, 150);
          delay(200);
          HCPCA9685.Servo(8, 120);
          HCPCA9685.Servo(10, 200);
          delay(400);
          HCPCA9685.Servo(4, 250);
          HCPCA9685.Servo(6, 70);
          delay(200);
          HCPCA9685.Servo(8, 170);
          HCPCA9685.Servo(10, 150);
        }
        break;
      case 's':                                 // sedni
        {
          HCPCA9685.Servo(4, 160);
          HCPCA9685.Servo(5, 150);
          delay(500);
          HCPCA9685.Servo(8, 10);
          HCPCA9685.Servo(9, 320);
          delay(500);
          HCPCA9685.Servo(6, 40);
          HCPCA9685.Servo(7, 300);
          delay(500);
          HCPCA9685.Servo(10, 60);
          HCPCA9685.Servo(11, 250);
          delay(500);
        }
        break;
      case 'p':                                    // postoj
        {
          HCPCA9685.Servo(8, 150);
          HCPCA9685.Servo(9, 180);
          delay(500);
          HCPCA9685.Servo(10, 170);
          HCPCA9685.Servo(11, 160);
          delay(500);
          HCPCA9685.Servo(4, 240);
          HCPCA9685.Servo(5, 80);
          delay(500);
          HCPCA9685.Servo(6, 90);
          HCPCA9685.Servo(7, 250);
        }
        break;
      case 'l':                                // povel LEHNI
        {
          HCPCA9685.Servo(8, 160);
          HCPCA9685.Servo(9, 170);
          delay(500);
          HCPCA9685.Servo(4, 150);
          HCPCA9685.Servo(5, 160);
          delay(500);
          HCPCA9685.Servo(10, 160);
          HCPCA9685.Servo(11, 170);
          delay(500);
          HCPCA9685.Servo(6, 170);
          HCPCA9685.Servo(7, 170);
          delay(500);
          HCPCA9685.Servo(4, 300);
          HCPCA9685.Servo(5, 40);
          delay(500);
          HCPCA9685.Servo(6, 70);
          HCPCA9685.Servo(7, 290);
          delay(500);
          HCPCA9685.Servo(8, 290);
          HCPCA9685.Servo(9, 60);
          delay(500);
          HCPCA9685.Servo(10, 50);
          HCPCA9685.Servo(11, 290);
        }
        break;






      case 'm':                                 // Mavani levou predni packou
        {
          HCPCA9685.Servo(8, 200);
          delay(200);
          HCPCA9685.Servo(4, 160);
          delay(200);
          HCPCA9685.Servo(8, 160);
          delay(200);
          HCPCA9685.Servo(8, 200);
          delay(200);
          HCPCA9685.Servo(8, 160);
          delay(200);
          HCPCA9685.Servo(8, 200);
          delay(200);
          HCPCA9685.Servo(4, 240);
          delay(200);
          HCPCA9685.Servo(8, 160);
          delay(200);
        }
        break;

      case 10:
        // New line
        break;

      case 13:
        // Enter
        break;

      default:
        Serial.println(" Neznam prikaz ");
    }
  }
  display.display();
}