Since we are using the same servo signal for both eyes now, we save a bit of hardship and don't have to change any of the software from the previous Animatronic Mouth tutorial. We can actually use the exact same code and control the new animatronic face!
Since the code is the same, I'll just make note of the differences in what signals from the PIC are now controlling what servos. The comments below in bold show you the changes.
PWM Control - Interrupt Routine
------------« Begin Code »------------
...
....
else if(PIR1bits.TMR1IF == 1)
{ //If Timer1 interrupts, do your thing...
count++; //Increment Timer1 Interrupt Counter
switch(count){ //Choose which servo to modify
case 1: PORTD = 0x01;
WriteTimer1( servo0 ); //Right Eyebrow
break;
case 2: PORTD = 0x02;
WriteTimer1( servo1 ); //Left Eyebrow
break;
case 3: PORTD = 0x04;
WriteTimer1( servo2 ); //Eyes Left/Right
break;
case 4: PORTD = 0x08;
WriteTimer1( servo3 ); //Eyes Up/Down
break;
case 5: PORTD = 0x10;
WriteTimer1( servo4 ); //Neck Rotate Left/Right
break;
case 6: PORTD = 0x20;
WriteTimer1( servo5 ); //Neck Tilt Up/Down
break;
case 7: PORTD = 0x40;
WriteTimer1( servo6 ); //Mouth
break;
case 8: PORTD = 0x00;
WriteTimer1( 0 );
break;
}
PIR1bits.TMR1IF = 0; //Clear Timer1 flag
}
....
...
------------« End Code »------------
It is really a blessing to be able to use the exact same software because now we can spend more time programming in animatronic movements using the move() function and making our animatron do cool things! Let's take a look at the data section to see what this animatron is up to now.