Initial Commit

First release of the library

Author: ElizabethTeaches

LICENSE.md

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PrecisionServo/PrecisionServo.h

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+#ifndef PrecisionServo_h
+#define PrecisionServo_h
+
+#define SERVO_SLOW_SMOOTH 0 
+#define SERVO_SLOW_PRECISE 1
+#define SERVO_SLOW_ENDPOINT 2
+
+#define SERVO_MEDIUM_SMOOTH 3
+#define SERVO_MEDIUM_PRECISE 4
+#define SERVO_MEDIUM_ENDPOINT 5 
+
+#define SERVO_FAST_SMOOTH 6
+#define SERVO_FAST_PRECISE 7
+#define SERVO_FAST_ENDPOINT 8 
+
+// The maximum number of degrees that we ask the servo to move at once
+// higher values -> faster, less accurate movement
+#define SLOW_SMOOTH_MAX_MOVEMENT 3
+#define SLOW_PRECISE_MAX_MOVEMENT 10
+#define SLOW_ENDPOINT_MAX_MOVEMENT 10
+
+#define MEDIUM_SMOOTH_MAX_MOVEMENT 5
+#define MEDIUM_PRECISE_MAX_MOVEMENT 12
+#define MEDIUM_ENDPOINT_MAX_MOVEMENT 12
+
+#define FAST_SMOOTH_MAX_MOVEMENT 8
+#define FAST_PRECISE_MAX_MOVEMENT 15
+#define FAST_ENDPOINT_MAX_MOVEMENT 15
+
+// The number of times we send our orders to the servo when we change its 
+// angle by max movement. Each iteration is roughly 20ms
+#define SLOW_SMOOTH_MOVEMENT_ITERATIONS 3
+#define SLOW_PRECISE_MOVEMENT_ITERATIONS 2
+#define SLOW_ENDPOINT_MOVEMENT_ITERATIONS 2
+
+#define MEDIUM_SMOOTH_MOVEMENT_ITERATIONS 2
+#define MEDIUM_PRECISE_MOVEMENT_ITERATIONS 1
+#define MEDIUM_ENDPOINT_MOVEMENT_ITERATIONS 1
+
+#define FAST_SMOOTH_MOVEMENT_ITERATIONS 1
+#define FAST_PRECISE_MOVEMENT_ITERATIONS 1
+#define FAST_ENDPOINT_MOVEMENT_ITERATIONS 1
+
+// The extra iterations we do when changing directions (each is roughly 20ms)
+// These are at our old position; by sending extra it prepares the servo
+// If the new direction additional iterations and max movement is high while 
+// movement iterations is low, you get full-speed movement to endpoints followed 
+// by a pause.
+#define SLOW_SMOOTH_NEW_DIR_ADD_ITERS 0
+#define SLOW_PRECISE_NEW_DIR_ADD_ITERS 3
+#define SLOW_ENDPOINT_NEW_DIR_ADD_ITERS 25
+
+#define MEDIUM_SMOOTH_NEW_DIR_ADD_ITERS 0
+#define MEDIUM_PRECISE_NEW_DIR_ADD_ITERS 2
+#define MEDIUM_ENDPOINT_NEW_DIR_ADD_ITERS 35
+
+#define FAST_SMOOTH_NEW_DIR_ADD_ITERS 0
+#define FAST_PRECISE_NEW_DIR_ADD_ITERS 1
+#define FAST_ENDPOINT_NEW_DIR_ADD_ITERS 45
+
+// The extra iterations we do when we've been given a new target, regardless 
+// of if it's in a new direction.
+#define SLOW_SMOOTH_NEW_TAR_ADD_ITERS 0
+#define SLOW_PRECISE_NEW_TAR_ADD_ITERS 25
+#define SLOW_ENDPOINT_NEW_TAR_ADD_ITERS 0
+
+#define MEDIUM_SMOOTH_NEW_TAR_ADD_ITERS 0
+#define MEDIUM_PRECISE_NEW_TAR_ADD_ITERS 35
+#define MEDIUM_ENDPOINT_NEW_TAR_ADD_ITERS 0
+
+#define FAST_SMOOTH_NEW_TAR_ADD_ITERS 0
+#define FAST_PRECISE_NEW_TAR_ADD_ITERS 45
+#define FAST_ENDPOINT_NEW_TAR_ADD_ITERS 0
+
+#include <Arduino.h>
+#include <inttypes.h>
+
+/**
+ * Contains information about a servo that can be sent 
+ * to the servo manager 
+ *
+ * @author Timothy Moore
+ * @author Elizabeth Moore
+ */
+struct PrecisionServo 
+{
+	/** 
+	 * Which pin this servo is operating on. The pin 
+	 * can be assumed to have been set to output mode 
+	 * (done manually or via servo manager setup)
+	 */
+	uint8_t pin;
+	
+	/**
+	 * The last angle that we told the servo to go to 
+	 * in degrees. Starts at 0
+	 */
+	uint8_t angleDegrees;
+	
+	/**
+	 * How many more times we should ask the servo to go to angleDegrees 
+	 * before moving on.
+	 */
+	int8_t iterationsLeftOnCurrentIncrement;
+	
+	/**
+	 * Which angle we are trying to get to on this servo.
+	 */
+	uint8_t targetAngleDegrees;
+	
+	/**
+	 * If the target has recently changed.
+	 */
+	bool targetChanged;
+	
+	/**
+	 * The sign (-1, 0, +1) for the last direction we tried to move 
+	 * the servo in. The servo often loses accuracy when changing 
+	 * direction, so if we try to change direction we add extra 
+	 * delay.
+	 */
+	int8_t lastDirection;
+	
+	/**
+	 * Set the target for the servo to the given degrees.
+	 * @param angle the direction to go to, in degrees 
+	 */
+	void setTarget(uint8_t angle) {
+		if(angle != targetAngleDegrees) {
+			targetAngleDegrees = angle;
+			targetChanged = true;
+		}
+	}
+	
+	/** Configure this servo to the given settings. 
+	 * 
+	 * @details This switch might be taking a lot of memory space. It could 
+	 * perhaps be avoided using a compiler macro instead of a setSetting 
+	 * function?
+	 *
+	 * @param setting The setting that this servo is using. 
+	 * 
+	 
+	 * Valid Options:
+	 *        SERVO_SLOW_SMOOTH
+	 *       SERVO_SLOW_PRECISE
+	 *      SERVO_SLOW_ENDPOINT
+	 *      SERVO_MEDIUM_SMOOTH  
+	 *     SERVO_MEDIUM_PRECISE
+	 *    SERVO_MEDIUM_ENDPOINT
+	 *        SERVO_FAST_SMOOTH
+	 *       SERVO_FAST_PRECISE
+	 *      SERVO_FAST_ENDPOINT
+	 *
+	 * SLOW/MEDIUM/FAST controls how rapidly the servo is going to the target 
+	 * 
+	 * SMOOTH - No additional pauses are used; the servo chases the target but 
+	 *          often won't quite reach it. This is great for if you are trying 
+	 *          to follow a sensor and the angles your asking for are inherently
+	 *          inprecise.
+	 *
+	 * PRECISE - The servo pauses at the *old* target whenever the target changes.
+	 *           This helps ensure it makes it exactly to the requested angles,
+	 *           assuming that you are using waitUntilFinished or sufficient delays
+	 *           between changing targets. This is ideal if you are hardcoding a 
+	 *           sequence of movements and want the most consistent behavior possible.
+	 *
+	 * ENDPOINT - Acts very similiarly to PRECISE, except skips the pause when given
+	 *            orders that continue in the same direction (the servo is often 
+	 *            less accurate when changing directions)
+	 */
+	void setSetting(uint8_t setting) {
+		switch(setting) {
+		case SERVO_SLOW_SMOOTH:
+			this->maxMovement = SLOW_SMOOTH_MAX_MOVEMENT;
+			this->movementIters = SLOW_SMOOTH_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = SLOW_SMOOTH_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = SLOW_SMOOTH_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_SLOW_PRECISE:
+			this->maxMovement = SLOW_PRECISE_MAX_MOVEMENT;
+			this->movementIters = SLOW_PRECISE_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = SLOW_PRECISE_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = SLOW_PRECISE_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_SLOW_ENDPOINT:
+			this->maxMovement = SLOW_ENDPOINT_MAX_MOVEMENT;
+			this->movementIters = SLOW_ENDPOINT_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = SLOW_ENDPOINT_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = SLOW_ENDPOINT_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_MEDIUM_SMOOTH:
+			this->maxMovement = MEDIUM_SMOOTH_MAX_MOVEMENT;
+			this->movementIters = MEDIUM_SMOOTH_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = MEDIUM_SMOOTH_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = MEDIUM_SMOOTH_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_MEDIUM_PRECISE:
+			this->maxMovement = MEDIUM_PRECISE_MAX_MOVEMENT;
+			this->movementIters = MEDIUM_PRECISE_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = MEDIUM_PRECISE_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = MEDIUM_PRECISE_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_MEDIUM_ENDPOINT:
+			this->maxMovement = MEDIUM_ENDPOINT_MAX_MOVEMENT;
+			this->movementIters = MEDIUM_ENDPOINT_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = MEDIUM_ENDPOINT_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = MEDIUM_ENDPOINT_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_FAST_SMOOTH:
+			this->maxMovement = FAST_SMOOTH_MAX_MOVEMENT;
+			this->movementIters = FAST_SMOOTH_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = FAST_SMOOTH_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = FAST_SMOOTH_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_FAST_PRECISE:
+			this->maxMovement = FAST_PRECISE_MAX_MOVEMENT;
+			this->movementIters = FAST_PRECISE_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = FAST_PRECISE_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = FAST_PRECISE_NEW_TAR_ADD_ITERS;
+			break;
+		case SERVO_FAST_ENDPOINT:
+			this->maxMovement = FAST_ENDPOINT_MAX_MOVEMENT;
+			this->movementIters = FAST_ENDPOINT_MOVEMENT_ITERATIONS;
+			this->newDirAddIters = FAST_ENDPOINT_NEW_DIR_ADD_ITERS;
+			this->newTarAddIters = FAST_ENDPOINT_NEW_TAR_ADD_ITERS;
+			break;
+		}
+	}
+	
+	// servo settings; see defines at the top. Only change 
+	// these directly if none of the presets are satisfactory.
+	uint8_t maxMovement;
+	uint8_t movementIters;
+	uint8_t newDirAddIters;
+	uint8_t newTarAddIters;
+};
+#endif