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VarSpeedServo.h
===============
The VarSpeedServo.h Arduino library allows the use of up to 8 servos moving asynchronously (because it uses interrupts). In addition, you can set the speed of a move, optionally wait (block) until the servo move is complete, and create sequences of moves that run asynchronously.
This code is an adaptation of the standard Arduino Servo.h library, which was first adapted by Korman and posted on the [Arduino forum](http://forum.arduino.cc/index.php?topic=61586.0) to add the speed capability. Philip van Allen updated it for Arduino 1.0 + and added the ability to to wait for the move to complete.
* Supports up to 8 servos
* Allows simultaneous, asynchronous movement of all servos
* The speed of a move can be set
* The write() function initiates a move and can optionally wait for completion of the move before returning
* A servo can be sent a sequence of moves (where each move has a position and speed)
Sample Code - one servo moving, wait for first movement to finish, then execute another movement
----------------------------
```
#include <VarSpeedServo.h>
VarSpeedServo myservo; // create servo object to control a servo
void setup() {
myservo.attach(9); // attaches the servo on pin 9 to the servo object
}
void loop() {
myservo.write(180, 30, true); // move to 180 degrees, use a speed of 30, wait until move is complete
myservo.write(0, 30, true); // move to 0 degrees, use a speed of 30, wait until move is complete
}
```
Sample Code - two servo moving in the same time with different speed, wait for both to finish and do another move
----------------------------
```
#include <VarSpeedServo.h>
// create servo objects
VarSpeedServo myservo1;
VarSpeedServo myservo2;
void setup() {
myservo1.attach(9);
myservo2.attach(8);
}
void loop() {
int LEF = 0;
int RIG = 180;
int SPEED1 = 160;
int SPEED2 = 100;
myservo1.write(LEF, SPEED1);
myservo2.write(LEF, SPEED2);
myservo1.wait(); // wait for servo 1 to finish
myservo2.wait(); // wait for servo 2 to finish
myservo1.write(RIG, SPEED1);
myservo1.wait(); // wait for S1
myservo1.write(LEF, SPEED1);
myservo2.write(RIG, SPEED2);
myservo1.wait();
myservo2.wait();
myservo1.write(RIG, SPEED1);
myservo1.wait();
delay(1000);
}
```
Additional examples are included in the distribution and are available in the Arduino Examples section.
Class methods
================
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. The servos are pulsed in the background using the value most recently written using the write() method
VarSpeedServo - Class for manipulating servo motors connected to Arduino pins. Methods:
attach(pin ) - Attaches a servo motor to an i/o pin.
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
default min is 544, max is 2400
write(value) - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
write(value, speed) - speed varies the speed of the move to new position 0=full speed, 1-255 slower to faster
write(value, speed, wait) - wait is a boolean that, if true, causes the function call to block until move is complete
writeMicroseconds() - Sets the servo pulse width in microseconds
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its i/o pin.
slowmove(value, speed) - The same as write(value, speed), retained for compatibility with Korman's version
stop() - stops the servo at the current position
sequencePlay(sequence, sequencePositions); // play a looping sequence starting at position 0
sequencePlay(sequence, sequencePositions, loop, startPosition); // play sequence with number of positions, loop if true, start at position
sequenceStop(); // stop sequence at current position
wait(); // wait for movement to finish
isMoving() // return true if servo is still moving
Installation
=============
* Download the .zip file from the releases section of GitHub
* In Arduino, select SKETCH>IMPORT LIBRARY...>ADD LIBRARY... and find the .zip file
* This will install the library in your My Documents (Windows) or Documents (Mac) folder under Arduino/libraries
* You can also unzip the file, and install it in the above libraries folder manually
* See [arduino.cc/en/Guide/Libraries](http://arduino.cc/en/Guide/Libraries) for more info on libraries

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/*
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
Function slowmove and supporting code added 2010 by Korman. Above limitations apply
to all added code, except for the official maintainer of the Servo library. If he,
and only he deems the enhancment a good idea to add to the official Servo library,
he may add it without the requirement to name the author of the parts original to
this version of the library.
*/
/*
Updated 2013 by Philip van Allen (pva),
-- updated for Arduino 1.0 +
-- consolidated slowmove into the write command (while keeping slowmove() for compatibility
with Korman's version)
-- added wait parameter to allow write command to block until move is complete
-- added sequence playing ability to asynchronously move the servo through a series of positions, must be called in a loop
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
The servos are pulsed in the background using the value most recently written using the write() method
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
The sequence used to sieze timers is defined in timers.h
The methods are:
VarSpeedServo - Class for manipulating servo motors connected to Arduino pins.
attach(pin ) - Attaches a servo motor to an i/o pin.
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
default min is 544, max is 2400
write(value) - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
write(value, speed) - speed varies the speed of the move to new position 0=full speed, 1-255 slower to faster
write(value, speed, wait) - wait is a boolean that, if true, causes the function call to block until move is complete
writeMicroseconds() - Sets the servo pulse width in microseconds
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its i/o pin.
slowmove(value, speed) - The same as write(value, speed), retained for compatibility with Korman's version
stop() - stops the servo at the current position
sequencePlay(sequence, sequencePositions); // play a looping sequence starting at position 0
sequencePlay(sequence, sequencePositions, loop, startPosition); // play sequence with number of positions, loop if true, start at position
sequenceStop(); // stop sequence at current position
*/
#include <avr/interrupt.h>
#include <Arduino.h> // updated from WProgram.h to Arduino.h for Arduino 1.0+, pva
#include "VarSpeedServo.h"
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
static servo_t servos[MAX_SERVOS]; // static array of servo structures
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
uint8_t ServoCount = 0; // the total number of attached servos
// sequence vars
servoSequencePoint initSeq[] = {{0,100},{45,100}};
//sequence_t sequences[MAX_SEQUENCE];
// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/
static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
{
if( Channel[timer] < 0 )
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
else{
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
}
Channel[timer]++; // increment to the next channel
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
// Extension for slowmove
if (SERVO(timer,Channel[timer]).speed) {
// Increment ticks by speed until we reach the target.
// When the target is reached, speed is set to 0 to disable that code.
if (SERVO(timer,Channel[timer]).target > SERVO(timer,Channel[timer]).ticks) {
SERVO(timer,Channel[timer]).ticks += SERVO(timer,Channel[timer]).speed;
if (SERVO(timer,Channel[timer]).target <= SERVO(timer,Channel[timer]).ticks) {
SERVO(timer,Channel[timer]).ticks = SERVO(timer,Channel[timer]).target;
SERVO(timer,Channel[timer]).speed = 0;
}
}
else {
SERVO(timer,Channel[timer]).ticks -= SERVO(timer,Channel[timer]).speed;
if (SERVO(timer,Channel[timer]).target >= SERVO(timer,Channel[timer]).ticks) {
SERVO(timer,Channel[timer]).ticks = SERVO(timer,Channel[timer]).target;
SERVO(timer,Channel[timer]).speed = 0;
}
}
}
// End of Extension for slowmove
// Todo
*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
}
else {
// finished all channels so wait for the refresh period to expire before starting over
if( (unsigned)*TCNTn < (usToTicks(REFRESH_INTERVAL) + 4) ) // allow a few ticks to ensure the next OCR1A not missed
*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
else
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
}
}
#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
// Interrupt handlers for Arduino
#if defined(_useTimer1)
SIGNAL (TIMER1_COMPA_vect)
{
handle_interrupts(_timer1, &TCNT1, &OCR1A);
}
#endif
#if defined(_useTimer3)
SIGNAL (TIMER3_COMPA_vect)
{
handle_interrupts(_timer3, &TCNT3, &OCR3A);
}
#endif
#if defined(_useTimer4)
SIGNAL (TIMER4_COMPA_vect)
{
handle_interrupts(_timer4, &TCNT4, &OCR4A);
}
#endif
#if defined(_useTimer5)
SIGNAL (TIMER5_COMPA_vect)
{
handle_interrupts(_timer5, &TCNT5, &OCR5A);
}
#endif
#elif defined WIRING
// Interrupt handlers for Wiring
#if defined(_useTimer1)
void Timer1Service()
{
handle_interrupts(_timer1, &TCNT1, &OCR1A);
}
#endif
#if defined(_useTimer3)
void Timer3Service()
{
handle_interrupts(_timer3, &TCNT3, &OCR3A);
}
#endif
#endif
static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if(timer == _timer1) {
TCCR1A = 0; // normal counting mode
TCCR1B = _BV(CS11); // set prescaler of 8
TCNT1 = 0; // clear the timer count
#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
TIFR |= _BV(OCF1A); // clear any pending interrupts;
TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
#else
// here if not ATmega8 or ATmega128
TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
#endif
}
#endif
#if defined (_useTimer3)
if(timer == _timer3) {
TCCR3A = 0; // normal counting mode
TCCR3B = _BV(CS31); // set prescaler of 8
TCNT3 = 0; // clear the timer count
#if defined(__AVR_ATmega128__)
TIFR |= _BV(OCF3A); // clear any pending interrupts;
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
#else
TIFR3 = _BV(OCF3A); // clear any pending interrupts;
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
#endif
#if defined(WIRING)
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
#endif
}
#endif
#if defined (_useTimer4)
if(timer == _timer4) {
TCCR4A = 0; // normal counting mode
TCCR4B = _BV(CS41); // set prescaler of 8
TCNT4 = 0; // clear the timer count
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
}
#endif
#if defined (_useTimer5)
if(timer == _timer5) {
TCCR5A = 0; // normal counting mode
TCCR5B = _BV(CS51); // set prescaler of 8
TCNT5 = 0; // clear the timer count
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
}
#endif
}
static void finISR(timer16_Sequence_t timer)
{
//disable use of the given timer
#if defined WIRING // Wiring
if(timer == _timer1) {
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
#else
TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
#endif
timerDetach(TIMER1OUTCOMPAREA_INT);
}
else if(timer == _timer3) {
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
#else
ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
#endif
timerDetach(TIMER3OUTCOMPAREA_INT);
}
#else
//For arduino - in future: call here to a currently undefined function to reset the timer
#endif
}
static boolean isTimerActive(timer16_Sequence_t timer)
{
// returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
if(SERVO(timer,channel).Pin.isActive == true)
return true;
}
return false;
}
/****************** end of static functions ******************************/
VarSpeedServo::VarSpeedServo()
{
if( ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
this->curSeqPosition = 0;
this->curSequence = initSeq;
}
else
this->servoIndex = INVALID_SERVO ; // too many servos
}
uint8_t VarSpeedServo::attach(int pin)
{
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t VarSpeedServo::attach(int pin, int min, int max)
{
if(this->servoIndex < MAX_SERVOS ) {
pinMode( pin, OUTPUT) ; // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max)/4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false)
initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
return this->servoIndex ;
}
void VarSpeedServo::detach()
{
servos[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false) {
finISR(timer);
}
}
void VarSpeedServo::write(int value)
{
byte channel = this->servoIndex;
servos[channel].value = value;
if(value < MIN_PULSE_WIDTH)
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
// updated to use constrain() instead of if(), pva
value = constrain(value, 0, 180);
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
void VarSpeedServo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
byte channel = this->servoIndex;
servos[channel].value = value;
if( (channel >= 0) && (channel < MAX_SERVOS) ) // ensure channel is valid
{
if( value < SERVO_MIN() ) // ensure pulse width is valid
value = SERVO_MIN();
else if( value > SERVO_MAX() )
value = SERVO_MAX();
value -= TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
uint8_t oldSREG = SREG;
cli();
servos[channel].ticks = value;
SREG = oldSREG;
// Extension for slowmove
// Disable slowmove logic.
servos[channel].speed = 0;
// End of Extension for slowmove
}
}
// Extension for slowmove
/*
write(value, speed) - Just like write but at reduced speed.
value - Target position for the servo. Identical use as value of the function write.
speed - Speed at which to move the servo.
speed=0 - Full speed, identical to write
speed=1 - Minimum speed
speed=255 - Maximum speed
*/
void VarSpeedServo::write(int value, uint8_t speed) {
// This fuction is a copy of write and writeMicroseconds but value will be saved
// in target instead of in ticks in the servo structure and speed will be save
// there too.
byte channel = this->servoIndex;
servos[channel].value = value;
if (speed) {
if (value < MIN_PULSE_WIDTH) {
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
// updated to use constrain instead of if, pva
value = constrain(value, 0, 180);
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
}
// calculate and store the values for the given channel
if( (channel >= 0) && (channel < MAX_SERVOS) ) { // ensure channel is valid
// updated to use constrain instead of if, pva
value = constrain(value, SERVO_MIN(), SERVO_MAX());
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
// Set speed and direction
uint8_t oldSREG = SREG;
cli();
servos[channel].target = value;
servos[channel].speed = speed;
SREG = oldSREG;
}
}
else {
write (value);
}
}
void VarSpeedServo::write(int value, uint8_t speed, bool wait) {
write(value, speed);
if (wait) { // block until the servo is at its new position
if (value < MIN_PULSE_WIDTH) {
while (read() != value) {
delay(5);
}
} else {
while (readMicroseconds() != value) {
delay(5);
}
}
}
}
void VarSpeedServo::stop() {
write(read());
}
void VarSpeedServo::slowmove(int value, uint8_t speed) {
// legacy function to support original version of VarSpeedServo
write(value, speed);
}
// End of Extension for slowmove
int VarSpeedServo::read() // return the value as degrees
{
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int VarSpeedServo::readMicroseconds()
{
unsigned int pulsewidth;
if( this->servoIndex != INVALID_SERVO )
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
else
pulsewidth = 0;
return pulsewidth;
}
bool VarSpeedServo::attached()
{
return servos[this->servoIndex].Pin.isActive ;
}
uint8_t VarSpeedServo::sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions, bool loop, uint8_t startPos) {
uint8_t oldSeqPosition = this->curSeqPosition;
if( this->curSequence != sequenceIn) {
//Serial.println("newSeq");
this->curSequence = sequenceIn;
this->curSeqPosition = startPos;
oldSeqPosition = 255;
}
if (read() == sequenceIn[this->curSeqPosition].position && this->curSeqPosition != CURRENT_SEQUENCE_STOP) {
this->curSeqPosition++;
if (this->curSeqPosition >= numPositions) { // at the end of the loop
if (loop) { // reset to the beginning of the loop
this->curSeqPosition = 0;
} else { // stop the loop
this->curSeqPosition = CURRENT_SEQUENCE_STOP;
}
}
}
if (this->curSeqPosition != oldSeqPosition && this->curSeqPosition != CURRENT_SEQUENCE_STOP) {
// CURRENT_SEQUENCE_STOP position means the animation has ended, and should no longer be played
// otherwise move to the next position
write(sequenceIn[this->curSeqPosition].position, sequenceIn[this->curSeqPosition].speed);
//Serial.println(this->seqCurPosition);
}
return this->curSeqPosition;
}
uint8_t VarSpeedServo::sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions) {
return sequencePlay(sequenceIn, numPositions, true, 0);
}
void VarSpeedServo::sequenceStop() {
write(read());
this->curSeqPosition = CURRENT_SEQUENCE_STOP;
}
// to be used only with "write(value, speed)"
void VarSpeedServo::wait() {
byte channel = this->servoIndex;
int value = servos[channel].value;
// wait until is done
if (value < MIN_PULSE_WIDTH) {
while (read() != value) {
delay(5);
}
} else {
while (readMicroseconds() != value) {
delay(5);
}
}
}
bool VarSpeedServo::isMoving() {
byte channel = this->servoIndex;
int value = servos[channel].value;
if (value < MIN_PULSE_WIDTH) {
if (read() != value) {
return true;
}
} else {
if (readMicroseconds() != value) {
return true;
}
}
return false;
}
/*
To do
int VarSpeedServo::targetPosition() {
byte channel = this->servoIndex;
return map( servos[channel].target+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int VarSpeedServo::targetPositionMicroseconds() {
byte channel = this->servoIndex;
return servos[channel].target;
}
*/

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/*
VarSpeedServo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*
Function slowmove and supporting code added 2010 by Korman. Above limitations apply
to all added code, except for the official maintainer of the Servo library. If he,
and only he deems the enhancment a good idea to add to the official Servo library,
he may add it without the requirement to name the author of the parts original to
this version of the library.
*/
/*
Updated 2013 by Philip van Allen (pva),
-- updated for Arduino 1.0 +
-- consolidated slowmove into the write command (while keeping slowmove() for compatibility
with Korman's version)
-- added wait parameter to allow write command to block until move is complete
-- added sequence playing ability to asynchronously move the servo through a series of positions, must be called in a loop
A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
The servos are pulsed in the background using the value most recently written using the write() method
Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
The sequence used to sieze timers is defined in timers.h
The methods are:
VarSpeedServo - Class for manipulating servo motors connected to Arduino pins.
attach(pin ) - Attaches a servo motor to an i/o pin.
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
default min is 544, max is 2400
write(value) - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
write(value, speed) - speed varies the speed of the move to new position 0=full speed, 1-255 slower to faster
write(value, speed, wait) - wait is a boolean that, if true, causes the function call to block until move is complete
writeMicroseconds() - Sets the servo pulse width in microseconds
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its i/o pin.
slowmove(value, speed) - The same as write(value, speed), retained for compatibility with Korman's version
stop() - stops the servo at the current position
sequencePlay(sequence, sequencePositions); // play a looping sequence starting at position 0
sequencePlay(sequence, sequencePositions, loop, startPosition); // play sequence with number of positions, loop if true, start at position
sequenceStop(); // stop sequence at current position
*/
#ifndef VarSpeedServo_h
#define VarSpeedServo_h
#include <inttypes.h>
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*
*/
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define _useTimer5
#define _useTimer1
#define _useTimer3
#define _useTimer4
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega32U4__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
#else // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
#endif
#define VarSpeedServo_VERSION 2 // software version of this library
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define INVALID_SERVO 255 // flag indicating an invalid servo index
#define CURRENT_SEQUENCE_STOP 255 // used to indicate the current sequence is not used and sequence should stop
typedef struct {
uint8_t nbr :6 ; // a pin number from 0 to 63
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t ;
typedef struct {
ServoPin_t Pin;
unsigned int ticks;
unsigned int value; // Extension for external wait (Gill)
unsigned int target; // Extension for slowmove
uint8_t speed; // Extension for slowmove
} servo_t;
typedef struct {
uint8_t position;
uint8_t speed;
} servoSequencePoint;
class VarSpeedServo
{
public:
VarSpeedServo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
void write(int value, uint8_t speed); // Move to given position at reduced speed.
// speed=0 is identical to write, speed=1 slowest and speed=255 fastest.
// On the RC-Servos tested, speeds differences above 127 can't be noticed,
// because of the mechanical limits of the servo.
void write(int value, uint8_t speed, bool wait); // wait parameter causes call to block until move completes
void writeMicroseconds(int value); // Write pulse width in microseconds
void slowmove(int value, uint8_t speed);
void stop(); // stop the servo where it is
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
uint8_t sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions, bool loop, uint8_t startPos);
uint8_t sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions); // play a looping sequence starting at position 0
void sequenceStop(); // stop movement
void wait(); // wait for movement to finish
bool isMoving(); // return true if servo is still moving
private:
uint8_t servoIndex; // index into the channel data for this servo
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
servoSequencePoint * curSequence; // for sequences
uint8_t curSeqPosition; // for sequences
};
#endif

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/*
Knob
Controlling a servo position using a potentiometer (variable resistor)
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
Adapted by Philip van Allen <philvanallen.com> for the VarSpeedServo.h library (October 2013)
This example code is in the public domain
Moves a servo to a position, determined by a scaled value from an analog input, driven by a knob (potentiometer)
Note that servos usually require more power than is available from the USB port - use an external power supply!
*/
#include <VarSpeedServo.h>
VarSpeedServo myservo; // create servo object to control a servo
const int potPin = 0; // analog pin used to connect the potentiometer
const int servoPin = 9; // the digital pin used for the servo
int val; // variable to read the value from the analog pin
void setup() {
myservo.attach(servoPin); // attaches the servo on pin 9 to the servo object
}
void loop() {
val = analogRead(potPin); // reads the value of the potentiometer (value between 0 and 1023)
val = map(val, 0, 1023, 0, 180); // scale it to use it with the servo (value from 0 and 180)
myservo.write(val); // sets the servo position according to the scaled value
delay(15); // waits a bit before the next value is read and written
}

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/*
ServoSequence
Reads an analog input, and plays different servo sequences depending on the analog value
This example code is in the public domain.
*/
#include <VarSpeedServo.h>
VarSpeedServo myservo1;
const int servoPin1 = 9; // the digital pin used for the servo
// sequences are defined as an array of points in the sequence
// each point has a position from 0 - 180, and a speed to get to that position
servoSequencePoint slow[] = {{100,20},{20,20},{60,50}}; // go to position 100 at speed of 20, position 20 speed 20, position 60, speed 50
servoSequencePoint twitchy[] = {{0,255},{180,40},{90,127},{120,60}};
const int analogPin = A0;
// the setup routine runs once when you press reset:
void setup() {
myservo1.attach(servoPin1);
}
// the loop routine runs over and over again forever:
void loop() {
// read the input on analog pin 0:
int sensorValue = analogRead(analogPin);
if (sensorValue > 200) {
myservo1.sequencePlay(slow, 3); // play sequence "slowHalf" that has 3 positions, loop and start at first position
} else {
myservo1.sequencePlay(twitchy, 4, true, 2); // play sequence "twitchy", loop, start at third position
}
delay(2); // delay in between reads for analogin stability
}

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02_Software/01_Arduino/libraries/VarSpeedServo-master/examples/Sweep/Sweep.ino Normal file
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/*
Sweep
by BARRAGAN <http://barraganstudio.com>
Adapted by Philip van Allen <philvanallen.com> for the VarSpeedServo.h library (October 2013)
This example code is in the public domain
Sweep a servo back and forth from 0-180 degrees, 180-0 degrees
Uses the wait feature of the 2013 version of VarSpeedServo to stop the code until the servo finishes moving
Note that servos usually require more power than is available from the USB port - use an external power supply!
*/
#include <VarSpeedServo.h>
VarSpeedServo myservo; // create servo object to control a servo
// a maximum of eight servo objects can be created
const int servoPin = 9; // the digital pin used for the servo
void setup() {
myservo.attach(servoPin); // attaches the servo on pin 9 to the servo object
myservo.write(0,255,true); // set the intial position of the servo, as fast as possible, wait until done
}
void loop() {
myservo.write(180,255,true); // move the servo to 180, max speed, wait until done
// write(degrees 0-180, speed 1-255, wait to complete true-false)
myservo.write(0,30,true); // move the servo to 180, slow speed, wait until done
}

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02_Software/01_Arduino/libraries/VarSpeedServo-master/examples/SweepTwoServos/SweepTwoServos.ino Normal file
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/*
SweepTwoServos
By Philip van Allen <philvanallen.com> for the VarSpeedServo.h library (October 2013)
This example code is in the public domain
Sweep two servos from 0-180, 180-0 in unison
Uses the wait feature of the 2013 version of VarSpeedServo to start the first servo moving in the background
and immediately starting a second servo moving and waiting for the second one to finish.
Note that two servos will require more power than is available from the USB port - use an external power supply!
*/
#include <VarSpeedServo.h>
VarSpeedServo myservo1; // create servo object to control a servo
// a maximum of eight servo objects can be created
VarSpeedServo myservo2;
const int servoPin1 = 9; // the digital pin used for the first servo
const int servoPin2 = 10; // the digital pin used for the second servo
void setup() {
myservo1.attach(servoPin1); // attaches the servo on pin 9 to the servo object
myservo1.write(0,255,false); // set the intial position of the servo, as fast as possible, run in background
myservo2.attach(servoPin2); // attaches the servo on pin 9 to the servo object
myservo2.write(0,255,true); // set the intial position of the servo, as fast as possible, wait until done
}
void loop() {
myservo1.write(180,127,false); // move the servo to 180, fast speed, run background
// write(degrees 0-180, speed 1-255, wait to complete true-false)
myservo2.write(180,127,true); // move the servo to 180, fast speed, wait until done
myservo1.write(0,30,false); // move the servo to 180, slow speed, run in background
myservo2.write(0,30,true); // move the servo to 180, slow speed, wait until done
}

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02_Software/01_Arduino/libraries/VarSpeedServo-master/examples/VarSpeedServoTest/VarSpeedServoTest.ino Normal file
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#include <VarSpeedServo.h>
// create servo object to control a servo
VarSpeedServo myservo1;
VarSpeedServo myservo2;
void setup() {
// initialize serial:
//Serial.begin(9600);
myservo1.attach(9);
myservo2.attach(8);
}
void loop() {
int LEF = 0;
int RIG = 180;
int SPEED1 = 160;
int SPEED2 = 100;
for(int i = 0; i < 4; i++) {
myservo1.write(LEF, SPEED1);
myservo2.write(LEF, SPEED2);
myservo1.wait();
myservo2.wait();
myservo1.write(RIG, SPEED1);
myservo1.wait();
myservo1.write(LEF, SPEED1);
myservo2.write(RIG, SPEED2);
myservo1.wait();
myservo2.wait();
myservo1.write(RIG, SPEED1);
myservo1.wait();
}
///*
delay(3000);
myservo1.detach();
myservo2.detach();
// */
}

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02_Software/01_Arduino/libraries/VarSpeedServo-master/keywords.txt Normal file
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#######################################
# Syntax Coloring Map Servo
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
VarSpeedServo KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
attach KEYWORD2
detach KEYWORD2
write KEYWORD2
read KEYWORD2
stop KEYWORD2
attached KEYWORD2
writeMicroseconds KEYWORD2
readMicroseconds KEYWORD2
slowmove KEYWORD2
sequencePlay KEYWORD2
sequenceStop KEYWORD2
wait KEYWORD2
isMoving KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################