mega servo库和电机PWM

Pitfalls:

There exist some pitfalls you may encounter, when programming your Arduino and making use of functions or libraries that uses timers.

Servo Library uses Timer1. You can’t use PWM on Pin 9, 10 when you use the Servo Library on an Arduino. For Arduino Mega it is a bit more difficult. The timer needed depends on the number of servos. Each timer can handle 12 servos. For the first 12 servos timer 5 will be used (losing PWM on Pin 44,45,46). For 24 Servos timer 5 and 1 will be used (losing PWM on Pin 11,12,44,45,46).. For 36 servos timer 5, 1 and 3 will be used (losing PWM on Pin 2,3,5,11,12,44,45,46).. For 48 servos all 16bit timers 5,1,3 and 4 will be used (losing all PWM pins).
Pin 11 has shared functionality PWM and MOSI. MOSI is needed for the SPI interface, You can’t use PWM on Pin 11 and the SPI interface at the same time on Arduino. On the Arduino Mega the SPI pins are on different pins.
tone() function uses at least timer2. You can’t use PWM on Pin 3,11 when you use the tone() function an Arduino and Pin 9,10 on Arduino Mega.