Servo motor and AVR Atmel Atmega 16

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• Servo motor is nothing but a simple motor based on servo mechanism.

• Servomechanism is a closed loop feedback systems uses +ve feedback to control its motion.

• With the help of servomechanism, servo motor give precise control of angular position.

• Motor have a dedicated encoder

• Simplest servomotors use position-only sensing via a potentiometer

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• COM1A1 = 1

• COM1B1 = 1

• WGM11 = 1

1 0 1 0 0 0 1 0




• WGM10 = 0 //Used in Waveform Generation

• WGM11 = 1 //Used in Waveform Generation

• COM1A1 = 1

• COM1B1 = 1

1 0 1 0 0 0 1 0



• The COM1A1,COM1A0,COM1B1 and COM1B0 control OC1A and OC1B

1 0 1 0 0 0 1 0




• WGM12 = 1

• WGM13 = 1

• CS11 = 1

• CS10 = 1

0 0 0 1 1 0 1 1




• WGM10 = 0 // TCCR1A

• WGM11 = 1 // TCCR1A

• WGM12 = 1 // TCCR1B

• WGM13 = 1 // TCCR1B

0 0 0 1 1 0 1 1



• WGM10 = 0 // TCCR1A

• WGM11 = 1 // TCCR1A

• WGM12 = 1 // TCCR1B

• WGM13 = 1 // TCCR1B



• FAST PWM Mode

• TOP Value = ICR1

//Timer count from 0 to ICR1




CS12 = 1 : CS11 = 1 : CS10 = 0

0 0 0 1 1 0 1 1




• Prescaler is 64.

• Means16MHz/64 = 250khz (4 uS period)

0 0 0 1 1 0 1 1



𝑓𝑝𝑤𝑚 =𝑓𝑐𝑝𝑢

𝑛(1 + 𝑇𝑂𝑃)



𝑓𝑝𝑤𝑚 =𝑓𝑐𝑝𝑢

𝑛(1 + 𝑇𝑂𝑃)

fpwm = 20ms (50 Hz)

fcpu = 16000000Hz

n = 64

TOP = 4999 // RESULT




//NON Inverted PWM


//PRESCALER=64 MODE 14(FAST PWM)

ICR1=4999;

//fPWM=50Hz (Period = 20ms Standard).

DDRD|=(1<<PD4)|(1<<PD5);

//PWM Pins as Out



• Servo Angle 0 need 0.388ms(388uS) pulse

Value of OCR1A = 388us/4us = 97







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Servo motor and AVR Atmel Atmega 16

Engineering

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