analog feedback demo code per adafruit

// Example code for recording and playing back servo motion with a
// analog feedback servo
// http://www.adafruit.com/products/1404

#include
#include

#define CALIB_MAX 512
#define CALIB_MIN 100
#define SAMPLE_DELAY 25 // in ms, 50ms seems good

uint8_t recordButtonPin = 12;
uint8_t playButtonPin = 7;
uint8_t servoPin = 9;
uint8_t feedbackPin = A0;
uint8_t ledPin = 13;

Servo myServo;

void setup() {
Serial.begin(9600);
pinMode(recordButtonPin, INPUT);
digitalWrite(recordButtonPin, HIGH);
pinMode(playButtonPin, INPUT);
digitalWrite(playButtonPin, HIGH);
pinMode(ledPin, OUTPUT);

Serial.println("Servo RecordPlay");
}

void loop() {
if (! digitalRead(recordButtonPin)) {
delay(10);
// wait for released
while (! digitalRead(recordButtonPin));
delay(20);
// OK released!
recordServo(servoPin, feedbackPin, recordButtonPin);
}

if (! digitalRead(playButtonPin)) {
delay(10);
// wait for released
while (! digitalRead(playButtonPin));
delay(20);
// OK released!
playServo(servoPin, playButtonPin);
}
}

void playServo(uint8_t servoPin, uint8_t buttonPin) {
uint16_t addr = 0;
Serial.println("Playing");

myServo.attach(servoPin);
while (digitalRead(buttonPin)) {
uint8_t x = EEPROM.read(addr);
Serial.print("Read EE: "); Serial.print(x);
if (x == 255) break;
// map to 0-180 degrees
x = map(x, 0, 254, 0, 180);
Serial.print(" -> "); Serial.println(x);
myServo.write(x);
delay(SAMPLE_DELAY);
addr++;
if (addr == 512) break;
}
Serial.println("Done");
myServo.detach();
delay(250);
}

void recordServo(uint8_t servoPin, uint8_t analogPin, uint8_t buttonPin) {
uint16_t addr = 0;

Serial.println("Recording");
digitalWrite(ledPin, HIGH);

pinMode(analogPin, INPUT);
while (digitalRead(buttonPin)) {
uint16_t a = analogRead(analogPin);

Serial.print("Read analog: "); Serial.print(a);
if (a < CALIB_MIN) a = CALIB_MIN;
if (a > CALIB_MAX) a = CALIB_MAX;
a = map(a, CALIB_MIN, CALIB_MAX, 0, 254);
Serial.print(" -> "); Serial.println(a);
EEPROM.write(addr, a);
addr++;
if (addr == 512) break;
delay(SAMPLE_DELAY);
}
if (addr != 512) EEPROM.write(addr, 255);

digitalWrite(ledPin, LOW);

Serial.println("Done");
delay(250);
}