/**
 * Driving a Picobotics PicoPic Servo controller board 
 * http://www.picobotics.com/Products.html
 * by Byoungil Choi & BARRAGAN <http://barraganstudio.com>
 * 
 * Demonstrates the use of the PicoPic Servo Controller board.
 */

int Address=120;		// Default PicoPic board address
int PortNum=10;			// Use servo connected to port 10
int Position = 1000;		// Position 1
int HPos;
int LPos;
int Position2 = 2000;		// Position 2
int HPos2;
int LPos2;
int Speed=10;			// Slow speed to see results

//1000 = 03E8, 2000 = 07D0

void setup(){
  Serial.begin(9600);
  Serial1.begin(9600);
  HPos = Position / 256;	// get the high part of the position 1	
  LPos = Position % 256;	// get the lower part of the position 1
  HPos2 = Position2 / 256;      // get the hight part of the position 2
  LPos2 = Position2 % 256;      // get the lower part of the position 2
  pinMode(48, OUTPUT); 		// Turn ON Wiring board LED
  digitalWrite(48, HIGH);
} 

void loop(){
  Serial1.print(Address, BYTE);	// Set the servo number 10 to position 1
  Serial1.print(PortNum, BYTE);
  Serial1.print(HPos, BYTE);
  Serial1.print(LPos, BYTE);
  Serial1.print(Speed, BYTE);
  delay(5000);			// Wait 5 seconds to see the change
  Serial1.print(Address, BYTE); // Set the servo number 10 to position 2
  Serial1.print(PortNum, BYTE);
  Serial1.print(HPos2, BYTE);
  Serial1.print(LPos2, BYTE);
  Serial1.print(Speed, BYTE);
  delay(5000);
} 
