Renbotics ServoShield Rev


The Renbotics ServoShield is an Arduino-compatible shield that uses two 4017 decade counters to drive up to 16 servos using only 4 pins (digital pins 6 to 9) and as little as one 8bit timer (Timer 2) in standard mode or two 16/8bit timers (Timer 1 and Timer 2 for Duemilanove or Timer 3 for Mega) in high accuracy mode. It also includes a 196 point breadboard style prototyping area.


  • 16 Servo Channels

  • Convenient screw terminal for servo power supply

  • 196 Point breadboard style prototyping area

  • Compatible with Arduino Duemilanove and Arduino Mega

  • Easy to use API

Application Ideas

  • Robotics

  • Animatronics

  • Mechatronic Art


Hardware Installation

Accembled View:


Sample 1: Simple servo sweeper

#include <ServoShield.h>
ServoShield servos; //Create a ServoShield object
void setup()
    for (int servo = 0; servo < 16; servo++)//Initialize all 16 servos
        servos.setbounds(servo, 1000, 2000); //Set the minimum and maximum pulse duration
        servos.setposition(servo, 1500); //Set the initial position of the servo
    servos.start(); //Start the servo shield
void loop()
    for(int pos = 1000; pos < 2000; pos++) //Move the servos from 0 degrees to 180 degrees
    { //in steps of 1 degree
        for (int i = 0; i < 16; i++) //for all 16 servos
        servos.setposition(i, pos); //Tell servo to go to position in variable 'pos'
    for(int pos = 2000; pos >= 1000; pos--)//Move the servos from 180 degrees to 0 degrees
        for (int i = 0; i < 16; i++) //all 16 servos
        servos.setposition(i, pos); //Tell servo to go to position in variable 'pos'

Bill of Materials (BOM) /parts list

  • 2 x 4017 Decade Counter DIP16

  • 2 x 10nf Capacitors

  • 2 x 6 pin Female Shield Stacking Headers

  • 2 x 8 pin Female Shield Stacking Headers

  • 1 x 2 pin Screw Terminal

  • 3 x 16 pin Male Breakaway Headers

Version Tracker

Revision Descriptions Release
v1.1 Initial public release Aug 23, 2009


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Happy hacking