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ThreeServos.ino
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/*
* ThreeServos.cpp
*
* Shows smooth movement from one servo position to another for 3 servos synchronously.
* Demonstrates the use of ServoEasingArray and ServoEasingNextPositionArray.
*
* Copyright (C) 2019-2022 Armin Joachimsmeyer
*
* This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
*
* ServoEasing is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
*/
#include <Arduino.h>
// Must specify this before the include of "ServoEasing.hpp"
//#define USE_PCA9685_SERVO_EXPANDER // Activating this enables the use of the PCA9685 I2C expander chip/board.
//#define USE_SERVO_LIB // If USE_PCA9685_SERVO_EXPANDER is defined, Activating this enables force additional using of regular servo library.
#define PROVIDE_ONLY_LINEAR_MOVEMENT // Activating this disables all but LINEAR movement. Saves up to 1540 bytes program memory.
//#define DISABLE_COMPLEX_FUNCTIONS // Activating this disables the SINE, CIRCULAR, BACK, ELASTIC, BOUNCE and PRECISION easings. Saves up to 1850 bytes program memory.
//#define MAX_EASING_SERVOS 3
//#define DISABLE_MICROS_AS_DEGREE_PARAMETER // Activating this disables microsecond values as (target angle) parameter. Saves 128 bytes program memory.
//#define DISABLE_MIN_AND_MAX_CONSTRAINTS // Activating this disables constraints. Saves 4 bytes RAM per servo but strangely enough no program memory.
//#define DISABLE_PAUSE_RESUME // Activating this disables pause and resume functions. Saves 5 bytes RAM per servo.
//#define DEBUG // Activating this enables generate lots of lovely debug output for this library.
//#define PRINT_FOR_SERIAL_PLOTTER // Activating this enables generate the Arduino plotter output from ServoEasing.hpp.
#include "ServoEasing.hpp"
#include "PinDefinitionsAndMore.h"
/*
* Pin mapping table for different platforms - used by all examples
*
* Platform Servo1 Servo2 Servo3 Analog Core/Pin schema
* -------------------------------------------------------------------------------
* (Mega)AVR + SAMD 9 10 11 A0
* ATtiny3217 20|PA3 0|PA4 1|PA5 2|PA6 MegaTinyCore
* ESP8266 14|D5 12|D6 13|D7 0
* ESP32 5 18 19 A0
* BluePill PB7 PB8 PB9 PA0
* APOLLO3 11 12 13 A3
* RP2040 6|GPIO18 7|GPIO19 8|GPIO20
*/
ServoEasing Servo1;
ServoEasing Servo2;
ServoEasing Servo3;
#define START_DEGREE_VALUE 0 // The degree value written to the servo at time of attach.
void blinkLED();
void setup() {
pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(115200);
#if defined(__AVR_ATmega32U4__) || defined(SERIAL_PORT_USBVIRTUAL) || defined(SERIAL_USB) /*stm32duino*/|| defined(USBCON) /*STM32_stm32*/|| defined(SERIALUSB_PID) || defined(ARDUINO_attiny3217)
delay(4000); // To be able to connect Serial monitor after reset or power up and before first print out. Do not wait for an attached Serial Monitor!
#endif
// Just to know which program is running on my Arduino
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("START " __FILE__ " from " __DATE__ "\r\nUsing library version " VERSION_SERVO_EASING));
#endif
/************************************************************
* Attach servo to pin and set servos to start position.
* This is the position where the movement starts.
*
* The order of the attach() determine the position
* of the Servos in internal ServoEasing::ServoEasingArray[]
***********************************************************/
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("Attach servo at pin " STR(SERVO1_PIN)));
#endif
Servo1.attach(SERVO1_PIN, START_DEGREE_VALUE);
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("Attach servo at pin " STR(SERVO2_PIN)));
#endif
Servo2.attach(SERVO2_PIN, START_DEGREE_VALUE, DEFAULT_MICROSECONDS_FOR_0_DEGREE, DEFAULT_MICROSECONDS_FOR_180_DEGREE);
/*
* Check at least the last call to attach()
*/
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("Attach servo at pin " STR(SERVO3_PIN)));
#endif
if (Servo3.attach(SERVO3_PIN, START_DEGREE_VALUE) == INVALID_SERVO) {
Serial.println(
F("Error attaching servo - maybe MAX_EASING_SERVOS=" STR(MAX_EASING_SERVOS) " is to small to hold all servos"));
while (true) {
blinkLED();
}
}
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
/*
* Print internal servo control data
*/
Servo1.print(&Serial);
Servo2.print(&Serial);
ServoEasing::ServoEasingArray[2]->print(&Serial); // "ServoEasing::ServoEasingArray[2]->" can be used instead of "Servo3."
#endif
#if defined(PRINT_FOR_SERIAL_PLOTTER)
// Legend for Arduino plotter
Serial.println(); // end of line of attach values
Serial.println(F("Servo1, Servo2, Servo3"));
#endif
// Wait for servos to reach start position.
delay(500);
Serial.println(F("Start loop"));
}
void blinkLED() {
digitalWrite(LED_BUILTIN, HIGH);
delay(100);
digitalWrite(LED_BUILTIN, LOW);
delay(100);
}
void loop() {
uint16_t tSpeed = 20;
/*
* Move three servos synchronously without interrupt handler
*/
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.print(F("Move to 90/135/180 degree with up to "));
Serial.print(tSpeed);
Serial.println(F(" degree per second with updates by own do-while loop"));
#endif
// this speed is changed for the first 2 servos below by synchronizing to the longest duration
setSpeedForAllServos(tSpeed);
ServoEasing::ServoEasingArray[0]->setEaseTo(90); // This servo uses effectively 10 degrees per second, since it is synchronized to Servo3
ServoEasing::ServoEasingArray[1]->setEaseTo(135); // "ServoEasing::ServoEasingArray[1]->" can be used instead of "Servo2."
Servo3.setEaseTo(180); // This servo has the longest distance -> it uses 20 degrees per second
synchronizeAllServosAndStartInterrupt(false); // Do not start interrupt
do {
// here you can call your own program
delay(REFRESH_INTERVAL_MILLIS); // optional 20ms delay
} while (!updateAllServos());
delay(1000);
/*
* Move three servos synchronously with interrupt handler
*/
tSpeed = 30;
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.print(F("Move to 180/180/0 degree with up to "));
Serial.print(tSpeed);
Serial.println(F(" degree per second using interrupts"));
#endif
ServoEasing::ServoEasingNextPositionArray[0] = 180;
ServoEasing::ServoEasingNextPositionArray[1] = 180;
ServoEasing::ServoEasingNextPositionArray[2] = 0;
setEaseToForAllServosSynchronizeAndStartInterrupt(tSpeed);
/*
* Now you can run your program while the servos are moving.
* Just let the LED blink until servos stop.
* Since all servos stops at the same time I have to check only one
*/
while (ServoEasing::areInterruptsActive()) {
blinkLED();
}
delay(1000);
/*
* Move first and second servo synchronously with interrupt handler
*/
tSpeed = 80;
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.print(F("Move to 90/90 degree with "));
Serial.print(tSpeed);
Serial.println(F(" degree per second using interrupts"));
#endif
Servo1.setEaseTo(90, tSpeed);
Servo2.startEaseToD(90, Servo1.mMillisForCompleteMove);
// No timing synchronization required :-)
// blink until servo stops
while (ServoEasing::areInterruptsActive()) {
blinkLED();
}
delay(1000);
// Move only third servo
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("Move third to 90 degree with 80 degree per second blocking"));
#endif
Servo3.easeTo(90, 80);
delay(1000);
/*
* Move all 3 servos independently
*/
#if !defined(PRINT_FOR_SERIAL_PLOTTER)
Serial.println(F("Move independently to 0/0/0 degree with 80/40/20 degree per second using interrupts"));
#endif
Servo1.setEaseTo(0, 80);
Servo2.setEaseTo(0, 40);
Servo3.startEaseTo(0, 20); // Start interrupt for all servos. No synchronization here since the servos should move independently.
// Blink until servos stops
while (ServoEasing::areInterruptsActive()) {
blinkLED();
}
delay(2000);
}