Add Servo::move() to servo.cpp
move(pin, angel) - Sequence of attach(pin), write(angel), if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches. As we have jitter on the servos during moves of the steppers, and detaching them improves this behaviour, the usual sequence to handle a servo movement is: attach(pin) write(angel) delay(until the servo finished the move) detache() Here a function to handle the complete sequence.
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@ -35,12 +35,14 @@
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write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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writeMicroseconds() - Sets the servo pulse width in microseconds
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move(pin, angel) - Sequence of attach(pin), write(angel),
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if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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*/
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*/
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#include "Configuration.h"
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#ifdef NUM_SERVOS
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@ -301,4 +303,17 @@ int Servo::readMicroseconds() {
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bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
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uint8_t Servo::move(int pin, int value) {
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uint8_t ret;
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ret = this->attach(pin);
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if (ret) {
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this->write(value);
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#ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0)
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delay(SERVO_DEACTIVATION_DELAY);
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this->detach();
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#endif
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}
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return ret;
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}
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#endif
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@ -40,6 +40,8 @@
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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move(pin, angel) - Sequence of attach(pin), write(angel),
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if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
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*/
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#ifndef servo_h
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@ -120,6 +122,9 @@ class Servo {
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void detach();
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void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
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void writeMicroseconds(int value); // Write pulse width in microseconds
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uint8_t move(int pin, int value); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure.
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// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds.
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// if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
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int read(); // returns current pulse width as an angle between 0 and 180 degrees
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int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
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bool attached(); // return true if this servo is attached, otherwise false
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