FIGURES 7-10. PCB construction.
receiver is established, pressing the action button will result
in the LED blinking on the wireless receiver.
The six servomotors are controlled by the two analog
FIGURE 11. Servomotor connections.
60 SERVO 02.2011
joysticks (thumb sticks) on the PS2 controller; see Figure
12. Servomotor 1 and Servomotor 2 are controlled by the
left analog joystick. The X axis of the left analog joystick
controls Servomotor 1 and the Y axis controls Servomotor
2. Tilting the joystick along any axis will result in motion of
the servomotor associated with that axis. Tilting the joystick
in the opposite direction along the same axis will result in
servomotor motion in the opposite direction.
Servomotor speed is proportional to the tilt angle of
the joystick. Tilting the joystick slightly will result in the
slowest servomotor motion. Tilting the joystick all the way
will result in fastest servomotor motion. There are three
levels of servomotor speed along one direction of the axis.
Releasing the joysticks will bring it to center position
and the servo will stop at its current position.
Since sticks may not always return to the center neutral
position, there is a dead band around the center of the
stick which results in no movement. This ensures the
servomotor doesn’t keep moving in case the stick has not
returned to the neutral position.
Servomotor 3 and Servomotor 4 are controlled by the
right analog stick in the same manner as described for the
left analog stick. Pressing Left 1 (shoulder button) in front
of the PS2 will shift control of the right analog stick from