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First release of the library
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ElizabethTeaches committed Aug 21, 2018
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116 changes: 116 additions & 0 deletions LICENSE.md
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238 changes: 238 additions & 0 deletions 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
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