#include <Servo.h>
#include <stdarg.h>

Include dependency graph for ServoEasing.h:

This graph shows which files directly or indirectly include this file:

Classes
class	ServoEasing

Macros
#define	VERSION_SERVO_EASING "3.6.0"

#define	VERSION_SERVO_EASING_MAJOR 3

#define	VERSION_SERVO_EASING_MINOR 6

#define	VERSION_SERVO_EASING_PATCH 0

#define	VERSION_HEX_VALUE(major, minor, patch) ((major << 16) \| (minor << 8) \| (patch))

#define	VERSION_SERVO_EASING_HEX VERSION_HEX_VALUE(VERSION_SERVO_EASING_MAJOR, VERSION_SERVO_EASING_MINOR, VERSION_SERVO_EASING_PATCH)

#define	MILLIS_IN_ONE_SECOND 1000L

#define	START_EASE_TO_SPEED 5

#define	MAX_EASING_SERVOS 12

#define	DEFAULT_PULSE_WIDTH 1500

#define	SERVO_REFRESH_INTERVAL_MICROS 20000

#define	INVALID_SERVO 255

#define	SERVO_REFRESH_INTERVAL_MILLIS (SERVO_REFRESH_INTERVAL_MICROS/1000)

#define	SERVO_REFRESH_FREQUENCY (MILLIS_IN_ONE_SECOND/SERVO_REFRESH_INTERVAL_MILLIS)

#define	THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS 360

#define	MINIMUM_PULSE_WIDTH 400

#define	MAXIMUM_PULSE_WIDTH 3500

#define	DEFAULT_MICROSECONDS_FOR_0_DEGREE 544

#define	DEFAULT_MICROSECONDS_FOR_45_DEGREE (544 + ((2400 - 544) / 4))

#define	DEFAULT_MICROSECONDS_FOR_90_DEGREE (544 + ((2400 - 544) / 2))

#define	DEFAULT_MICROSECONDS_FOR_135_DEGREE (2400 - ((2400 - 544) / 4))

#define	DEFAULT_MICROSECONDS_FOR_180_DEGREE 2400

#define	DEFAULT_PCA9685_UNITS_FOR_0_DEGREE 111

#define	DEFAULT_PCA9685_UNITS_FOR_45_DEGREE (111 + ((491 - 111) / 4))

#define	DEFAULT_PCA9685_UNITS_FOR_90_DEGREE (111 + ((491 - 111) / 2))

#define	DEFAULT_PCA9685_UNITS_FOR_135_DEGREE (491 - ((491 - 111) / 4))

#define	DEFAULT_PCA9685_UNITS_FOR_180_DEGREE 491

#define	MICROSECONDS_FOR_ROTATING_SERVO_STOP 1500

#define	MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_MAX (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 200)

#define	MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_HALF (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 100)

#define	MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_QUARTER (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 50)

#define	MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_MAX (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 200)

#define	MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_HALF (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 100)

#define	MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_QUARTER (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 50)

#define	ENABLE_EASE_QUADRATIC

#define	ENABLE_EASE_CUBIC

#define	ENABLE_EASE_QUARTIC

#define	ENABLE_EASE_USER

#define	ENABLE_EASE_SINE

#define	ENABLE_EASE_CIRCULAR

#define	ENABLE_EASE_BACK

#define	ENABLE_EASE_ELASTIC

#define	ENABLE_EASE_BOUNCE

#define	ENABLE_EASE_PRECISION

#define	EASE_FUNCTION_DEGREE_INDICATOR_OFFSET 200

#define	EASE_FUNCTION_DEGREE_THRESHOLD (EASE_FUNCTION_DEGREE_INDICATOR_OFFSET - 180)

#define	EASE_FUNCTION_MICROSECONDS_INDICATOR_OFFSET (EASE_FUNCTION_DEGREE_INDICATOR_OFFSET + 200)

#define	CALL_STYLE_DIRECT 0x00

#define	CALL_STYLE_IN 0x00

#define	CALL_STYLE_OUT 0x40

#define	CALL_STYLE_IN_OUT 0x80

#define	CALL_STYLE_BOUNCING_OUT_IN 0xC0

#define	CALL_STYLE_MASK 0xC0

#define	EASE_TYPE_MASK 0x0F

#define	EASE_LINEAR 0x00

#define	EASE_QUADRATIC_IN 0x01

#define	EASE_QUADRATIC_OUT 0x41

#define	EASE_QUADRATIC_IN_OUT 0x81

#define	EASE_QUADRATIC_BOUNCING 0xC1

#define	EASE_CUBIC_IN 0x02

#define	EASE_CUBIC_OUT 0x42

#define	EASE_CUBIC_IN_OUT 0x82

#define	EASE_CUBIC_BOUNCING 0xC2

#define	EASE_QUARTIC_IN 0x03

#define	EASE_QUARTIC_OUT 0x43

#define	EASE_QUARTIC_IN_OUT 0x83

#define	EASE_QUARTIC_BOUNCING 0xC3

#define	EASE_USER_DIRECT 0x06

#define	EASE_USER_IN 0x06

#define	EASE_USER_OUT 0x46

#define	EASE_USER_IN_OUT 0x86

#define	EASE_USER_BOUNCING 0xC6

#define	EASE_DUMMY_MOVE 0x07

#define	EASE_SINE_IN 0x08

#define	EASE_SINE_OUT 0x48

#define	EASE_SINE_IN_OUT 0x88

#define	EASE_SINE_BOUNCING 0xC8

#define	EASE_CIRCULAR_IN 0x09

#define	EASE_CIRCULAR_OUT 0x49

#define	EASE_CIRCULAR_IN_OUT 0x89

#define	EASE_CIRCULAR_BOUNCING 0xC9

#define	EASE_BACK_IN 0x0A

#define	EASE_BACK_OUT 0x4A

#define	EASE_BACK_IN_OUT 0x8A

#define	EASE_BACK_BOUNCING 0xCA

#define	EASE_ELASTIC_IN 0x0B

#define	EASE_ELASTIC_OUT 0x4B

#define	EASE_ELASTIC_IN_OUT 0x8B

#define	EASE_ELASTIC_BOUNCING 0xCB

#define	EASE_BOUNCE_IN 0x4C

#define	EASE_BOUNCE_OUT 0x0C

#define	EASE_PRECISION_IN 0x0D

#define	EASE_PRECISION_OUT 0x4D

#define	PCA9685_GENERAL_CALL_ADDRESS 0x00

#define	PCA9685_SOFTWARE_RESET 6

#define	PCA9685_DEFAULT_ADDRESS 0x40

#define	PCA9685_MAX_CHANNELS 16

#define	PCA9685_MODE1_REGISTER 0x0

#define	PCA9685_MODE_1_RESTART 7

#define	PCA9685_MODE_1_AUTOINCREMENT 5

#define	PCA9685_MODE_1_SLEEP 4

#define	PCA9685_MODE1_EXTCLK 6

#define	PCA9685_FIRST_PWM_REGISTER 0x06

#define	PCA9685_PRESCALE_REGISTER 0xFE

#define	PCA9685_ACTUAL_CLOCK_FREQUENCY 25000000L

#define	PCA9685_PRESCALER_FOR_20_MS ((PCA9685_ACTUAL_CLOCK_FREQUENCY /(4096L * 50)) - 1)

#define	START_UPDATE_BY_INTERRUPT true

#define	DO_NOT_START_UPDATE_BY_INTERRUPT false

#define	mCurrentMicrosecondsOrUnits mLastTargetMicrosecondsOrUnits

#define	areInterruptsActive() ServoEasing::areInterruptsActive()

#define	sServoArray ServoEasing::ServoEasingArray

#define	sServoNextPositionArray ServoEasing::ServoEasingNextPositionArray

#define	STR_HELPER(x) #x

#define	STR(x) STR_HELPER(x)

Functions
void	writeAllServos (int aTargetDegreeOrMicrosecond)

void	setSpeedForAllServos (uint_fast16_t aDegreesPerSecond)

bool	setEaseToForAllServos ()
	Sets target position using content of ServoEasingNextPositionArray. More...

bool	setEaseToForAllServos (uint_fast16_t aDegreesPerSecond)
	Sets target position using content of ServoEasingNextPositionArray and use aDegreesPerSecond instead of the one stored in mSpeed. More...

bool	setEaseToDForAllServos (uint_fast16_t aMillisForMove)
	Sets target position using content of ServoEasingNextPositionArray and use aMillisForMove instead of the speed stored in mSpeed. More...

void	setEaseToForAllServosSynchronizeAndStartInterrupt ()

void	setEaseToForAllServosSynchronizeAndStartInterrupt (uint_fast16_t aDegreesPerSecond)

void	synchronizeAllServosAndStartInterrupt (bool aStartUpdateByInterrupt=START_UPDATE_BY_INTERRUPT, bool aSynchronizeToMinimumDuration=false)
	Take the longest duration in order to move all servos synchronously. More...

void	setEasingTypeForAllServos (uint_fast8_t aEasingType)
	60 us for single servo + 160 us per servo if using I2C e.g.for PCA9685 expander at 400 kHz or + 100 at 800 kHz 20 us for last interrupt The first servo pulse starts just after this interrupt routine has finished More...

void	setEasingTypeForMultipleServos (uint_fast8_t aNumberOfServos, uint_fast8_t aEasingType)
	Sets easing type aEasingType for the first aNumberOfServos in ServoEasingArray[]. More...

void	updateAndWaitForAllServosToStop ()
	Blocking wait until all servos are stopped. More...

bool	delayAndUpdateAndWaitForAllServosToStop (unsigned long aMillisDelay, bool aTerminateDelayIfAllServosStopped=false)

void	setEaseToForAllServosSynchronizeAndWaitForAllServosToStop ()
	Synchronize and blocking wait until all servos are stopped Take the longer duration in order to move all servos synchronously. More...

void	setEaseToForAllServosSynchronizeAndWaitForAllServosToStop (uint_fast16_t aDegreesPerSecond)

void	synchronizeAndEaseToArrayPositions () __attribute__((deprecated("Please use setEaseToForAllServosSynchronizeAndWait().")))

void	synchronizeAndEaseToArrayPositions (uint_fast16_t aDegreesPerSecond) __attribute__((deprecated("Please use setEaseToForAllServosSynchronizeAndWait().")))

void	synchronizeAllServosStartAndWaitForAllServosToStop ()
	Synchronize and blocking wait until all servos are stopped. More...

void	printArrayPositions (Print *aSerial)
	Prints content of ServoNextPositionArray for debugging purposes. More...

bool	isOneServoMoving ()

void	stopAllServos ()

void	resumeWithInterruptsAllServos ()

void	resumeWithoutInterruptsAllServos ()

bool	updateAllServos ()

void	enableServoEasingInterrupt ()
	Timer1 is used for the Arduino Servo library. More...

void	disableServoEasingInterrupt ()

int	clipDegreeSpecial (uint_fast8_t aDegreeToClip)
	Clips the unsigned degree value and handles unsigned underflow. More...

bool	checkI2CConnection (uint8_t aI2CAddress, Stream *aSerial)

Variables
const char easeTypeLinear[]	PROGMEM

Macro Definition Documentation

◆ areInterruptsActive

#define areInterruptsActive ( ) ServoEasing::areInterruptsActive()

Definition at line 727 of file ServoEasing.h.

◆ CALL_STYLE_BOUNCING_OUT_IN

#define CALL_STYLE_BOUNCING_OUT_IN 0xC0

Definition at line 330 of file ServoEasing.h.

◆ CALL_STYLE_DIRECT

#define CALL_STYLE_DIRECT 0x00

Definition at line 326 of file ServoEasing.h.

◆ CALL_STYLE_IN

#define CALL_STYLE_IN 0x00

Definition at line 327 of file ServoEasing.h.

◆ CALL_STYLE_IN_OUT

#define CALL_STYLE_IN_OUT 0x80

Definition at line 329 of file ServoEasing.h.

◆ CALL_STYLE_MASK

#define CALL_STYLE_MASK 0xC0

Definition at line 332 of file ServoEasing.h.

◆ CALL_STYLE_OUT

#define CALL_STYLE_OUT 0x40

Definition at line 328 of file ServoEasing.h.

◆ DEFAULT_MICROSECONDS_FOR_0_DEGREE

#define DEFAULT_MICROSECONDS_FOR_0_DEGREE 544

Definition at line 247 of file ServoEasing.h.

◆ DEFAULT_MICROSECONDS_FOR_135_DEGREE

#define DEFAULT_MICROSECONDS_FOR_135_DEGREE (2400 - ((2400 - 544) / 4))

Definition at line 250 of file ServoEasing.h.

◆ DEFAULT_MICROSECONDS_FOR_180_DEGREE

#define DEFAULT_MICROSECONDS_FOR_180_DEGREE 2400

Definition at line 251 of file ServoEasing.h.

◆ DEFAULT_MICROSECONDS_FOR_45_DEGREE

#define DEFAULT_MICROSECONDS_FOR_45_DEGREE (544 + ((2400 - 544) / 4))

Definition at line 248 of file ServoEasing.h.

◆ DEFAULT_MICROSECONDS_FOR_90_DEGREE

#define DEFAULT_MICROSECONDS_FOR_90_DEGREE (544 + ((2400 - 544) / 2))

Definition at line 249 of file ServoEasing.h.

◆ DEFAULT_PCA9685_UNITS_FOR_0_DEGREE

#define DEFAULT_PCA9685_UNITS_FOR_0_DEGREE 111

Definition at line 254 of file ServoEasing.h.

◆ DEFAULT_PCA9685_UNITS_FOR_135_DEGREE

#define DEFAULT_PCA9685_UNITS_FOR_135_DEGREE (491 - ((491 - 111) / 4))

Definition at line 257 of file ServoEasing.h.

◆ DEFAULT_PCA9685_UNITS_FOR_180_DEGREE

#define DEFAULT_PCA9685_UNITS_FOR_180_DEGREE 491

Definition at line 258 of file ServoEasing.h.

◆ DEFAULT_PCA9685_UNITS_FOR_45_DEGREE

#define DEFAULT_PCA9685_UNITS_FOR_45_DEGREE (111 + ((491 - 111) / 4))

Definition at line 255 of file ServoEasing.h.

◆ DEFAULT_PCA9685_UNITS_FOR_90_DEGREE

#define DEFAULT_PCA9685_UNITS_FOR_90_DEGREE (111 + ((491 - 111) / 2))

Definition at line 256 of file ServoEasing.h.

◆ DEFAULT_PULSE_WIDTH

#define DEFAULT_PULSE_WIDTH 1500

Definition at line 183 of file ServoEasing.h.

◆ DO_NOT_START_UPDATE_BY_INTERRUPT

#define DO_NOT_START_UPDATE_BY_INTERRUPT false

Definition at line 449 of file ServoEasing.h.

◆ EASE_BACK_BOUNCING

#define EASE_BACK_BOUNCING 0xCA

Definition at line 386 of file ServoEasing.h.

◆ EASE_BACK_IN

#define EASE_BACK_IN 0x0A

Definition at line 383 of file ServoEasing.h.

◆ EASE_BACK_IN_OUT

#define EASE_BACK_IN_OUT 0x8A

Definition at line 385 of file ServoEasing.h.

◆ EASE_BACK_OUT

#define EASE_BACK_OUT 0x4A

Definition at line 384 of file ServoEasing.h.

◆ EASE_BOUNCE_IN

#define EASE_BOUNCE_IN 0x4C

Definition at line 398 of file ServoEasing.h.

◆ EASE_BOUNCE_OUT

#define EASE_BOUNCE_OUT 0x0C

Definition at line 399 of file ServoEasing.h.

◆ EASE_CIRCULAR_BOUNCING

#define EASE_CIRCULAR_BOUNCING 0xC9

Definition at line 379 of file ServoEasing.h.

◆ EASE_CIRCULAR_IN

#define EASE_CIRCULAR_IN 0x09

Definition at line 376 of file ServoEasing.h.

◆ EASE_CIRCULAR_IN_OUT

#define EASE_CIRCULAR_IN_OUT 0x89

Definition at line 378 of file ServoEasing.h.

◆ EASE_CIRCULAR_OUT

#define EASE_CIRCULAR_OUT 0x49

Definition at line 377 of file ServoEasing.h.

◆ EASE_CUBIC_BOUNCING

#define EASE_CUBIC_BOUNCING 0xC2

Definition at line 348 of file ServoEasing.h.

◆ EASE_CUBIC_IN

#define EASE_CUBIC_IN 0x02

Definition at line 345 of file ServoEasing.h.

◆ EASE_CUBIC_IN_OUT

#define EASE_CUBIC_IN_OUT 0x82

Definition at line 347 of file ServoEasing.h.

◆ EASE_CUBIC_OUT

#define EASE_CUBIC_OUT 0x42

Definition at line 346 of file ServoEasing.h.

◆ EASE_DUMMY_MOVE

#define EASE_DUMMY_MOVE 0x07

Definition at line 366 of file ServoEasing.h.

◆ EASE_ELASTIC_BOUNCING

#define EASE_ELASTIC_BOUNCING 0xCB

Definition at line 393 of file ServoEasing.h.

◆ EASE_ELASTIC_IN

#define EASE_ELASTIC_IN 0x0B

Definition at line 390 of file ServoEasing.h.

◆ EASE_ELASTIC_IN_OUT

#define EASE_ELASTIC_IN_OUT 0x8B

Definition at line 392 of file ServoEasing.h.

◆ EASE_ELASTIC_OUT

#define EASE_ELASTIC_OUT 0x4B

Definition at line 391 of file ServoEasing.h.

◆ EASE_FUNCTION_DEGREE_INDICATOR_OFFSET

#define EASE_FUNCTION_DEGREE_INDICATOR_OFFSET 200

Definition at line 318 of file ServoEasing.h.

◆ EASE_FUNCTION_DEGREE_THRESHOLD

#define EASE_FUNCTION_DEGREE_THRESHOLD (EASE_FUNCTION_DEGREE_INDICATOR_OFFSET - 180)

Definition at line 319 of file ServoEasing.h.

◆ EASE_FUNCTION_MICROSECONDS_INDICATOR_OFFSET

#define EASE_FUNCTION_MICROSECONDS_INDICATOR_OFFSET (EASE_FUNCTION_DEGREE_INDICATOR_OFFSET + 200)

Definition at line 320 of file ServoEasing.h.

◆ EASE_LINEAR

#define EASE_LINEAR 0x00

Definition at line 335 of file ServoEasing.h.

◆ EASE_PRECISION_IN

#define EASE_PRECISION_IN 0x0D

Definition at line 403 of file ServoEasing.h.

◆ EASE_PRECISION_OUT

#define EASE_PRECISION_OUT 0x4D

Definition at line 404 of file ServoEasing.h.

◆ EASE_QUADRATIC_BOUNCING

#define EASE_QUADRATIC_BOUNCING 0xC1

Definition at line 341 of file ServoEasing.h.

◆ EASE_QUADRATIC_IN

#define EASE_QUADRATIC_IN 0x01

Definition at line 338 of file ServoEasing.h.

◆ EASE_QUADRATIC_IN_OUT

#define EASE_QUADRATIC_IN_OUT 0x81

Definition at line 340 of file ServoEasing.h.

◆ EASE_QUADRATIC_OUT

#define EASE_QUADRATIC_OUT 0x41

Definition at line 339 of file ServoEasing.h.

◆ EASE_QUARTIC_BOUNCING

#define EASE_QUARTIC_BOUNCING 0xC3

Definition at line 355 of file ServoEasing.h.

◆ EASE_QUARTIC_IN

#define EASE_QUARTIC_IN 0x03

Definition at line 352 of file ServoEasing.h.

◆ EASE_QUARTIC_IN_OUT

#define EASE_QUARTIC_IN_OUT 0x83

Definition at line 354 of file ServoEasing.h.

◆ EASE_QUARTIC_OUT

#define EASE_QUARTIC_OUT 0x43

Definition at line 353 of file ServoEasing.h.

◆ EASE_SINE_BOUNCING

#define EASE_SINE_BOUNCING 0xC8

Definition at line 372 of file ServoEasing.h.

◆ EASE_SINE_IN

#define EASE_SINE_IN 0x08

Definition at line 369 of file ServoEasing.h.

◆ EASE_SINE_IN_OUT

#define EASE_SINE_IN_OUT 0x88

Definition at line 371 of file ServoEasing.h.

◆ EASE_SINE_OUT

#define EASE_SINE_OUT 0x48

Definition at line 370 of file ServoEasing.h.

◆ EASE_TYPE_MASK

#define EASE_TYPE_MASK 0x0F

Definition at line 333 of file ServoEasing.h.

◆ EASE_USER_BOUNCING

#define EASE_USER_BOUNCING 0xC6

Definition at line 363 of file ServoEasing.h.

◆ EASE_USER_DIRECT

#define EASE_USER_DIRECT 0x06

Definition at line 359 of file ServoEasing.h.

◆ EASE_USER_IN

#define EASE_USER_IN 0x06

Definition at line 360 of file ServoEasing.h.

◆ EASE_USER_IN_OUT

#define EASE_USER_IN_OUT 0x86

Definition at line 362 of file ServoEasing.h.

◆ EASE_USER_OUT

#define EASE_USER_OUT 0x46

Definition at line 361 of file ServoEasing.h.

◆ ENABLE_EASE_BACK

#define ENABLE_EASE_BACK

Definition at line 294 of file ServoEasing.h.

◆ ENABLE_EASE_BOUNCE

#define ENABLE_EASE_BOUNCE

Definition at line 296 of file ServoEasing.h.

◆ ENABLE_EASE_CIRCULAR

#define ENABLE_EASE_CIRCULAR

Definition at line 293 of file ServoEasing.h.

◆ ENABLE_EASE_CUBIC

#define ENABLE_EASE_CUBIC

Definition at line 288 of file ServoEasing.h.

◆ ENABLE_EASE_ELASTIC

#define ENABLE_EASE_ELASTIC

Definition at line 295 of file ServoEasing.h.

◆ ENABLE_EASE_PRECISION

#define ENABLE_EASE_PRECISION

Definition at line 297 of file ServoEasing.h.

◆ ENABLE_EASE_QUADRATIC

#define ENABLE_EASE_QUADRATIC

Definition at line 287 of file ServoEasing.h.

◆ ENABLE_EASE_QUARTIC

#define ENABLE_EASE_QUARTIC

Definition at line 289 of file ServoEasing.h.

◆ ENABLE_EASE_SINE

#define ENABLE_EASE_SINE

Definition at line 292 of file ServoEasing.h.

◆ ENABLE_EASE_USER

#define ENABLE_EASE_USER

Definition at line 290 of file ServoEasing.h.

◆ INVALID_SERVO

#define INVALID_SERVO 255

Definition at line 195 of file ServoEasing.h.

◆ MAX_EASING_SERVOS

#define MAX_EASING_SERVOS 12

Definition at line 178 of file ServoEasing.h.

◆ MAXIMUM_PULSE_WIDTH

#define MAXIMUM_PULSE_WIDTH 3500

Definition at line 243 of file ServoEasing.h.

◆ mCurrentMicrosecondsOrUnits

#define mCurrentMicrosecondsOrUnits mLastTargetMicrosecondsOrUnits

Definition at line 451 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_HALF

#define MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_HALF (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 100)

Definition at line 276 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_MAX

#define MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_MAX (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 200)

Definition at line 275 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_QUARTER

#define MICROSECONDS_FOR_ROTATING_SERVO_CLOCKWISE_QUARTER (MICROSECONDS_FOR_ROTATING_SERVO_STOP - 50)

Definition at line 277 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_HALF

#define MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_HALF (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 100)

Definition at line 279 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_MAX

#define MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_MAX (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 200)

Definition at line 278 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_QUARTER

#define MICROSECONDS_FOR_ROTATING_SERVO_COUNTER_CLOCKWISE_QUARTER (MICROSECONDS_FOR_ROTATING_SERVO_STOP + 50)

Definition at line 280 of file ServoEasing.h.

◆ MICROSECONDS_FOR_ROTATING_SERVO_STOP

#define MICROSECONDS_FOR_ROTATING_SERVO_STOP 1500

Definition at line 270 of file ServoEasing.h.

◆ MILLIS_IN_ONE_SECOND

#define MILLIS_IN_ONE_SECOND 1000L

Definition at line 45 of file ServoEasing.h.

◆ MINIMUM_PULSE_WIDTH

#define MINIMUM_PULSE_WIDTH 400

Definition at line 240 of file ServoEasing.h.

◆ PCA9685_ACTUAL_CLOCK_FREQUENCY

#define PCA9685_ACTUAL_CLOCK_FREQUENCY 25000000L

Definition at line 442 of file ServoEasing.h.

◆ PCA9685_DEFAULT_ADDRESS

#define PCA9685_DEFAULT_ADDRESS 0x40

Definition at line 431 of file ServoEasing.h.

◆ PCA9685_FIRST_PWM_REGISTER

#define PCA9685_FIRST_PWM_REGISTER 0x06

Definition at line 438 of file ServoEasing.h.

◆ PCA9685_GENERAL_CALL_ADDRESS

#define PCA9685_GENERAL_CALL_ADDRESS 0x00

Definition at line 429 of file ServoEasing.h.

◆ PCA9685_MAX_CHANNELS

#define PCA9685_MAX_CHANNELS 16

Definition at line 432 of file ServoEasing.h.

◆ PCA9685_MODE1_EXTCLK

#define PCA9685_MODE1_EXTCLK 6

Definition at line 437 of file ServoEasing.h.

◆ PCA9685_MODE1_REGISTER

#define PCA9685_MODE1_REGISTER 0x0

Definition at line 433 of file ServoEasing.h.

◆ PCA9685_MODE_1_AUTOINCREMENT

#define PCA9685_MODE_1_AUTOINCREMENT 5

Definition at line 435 of file ServoEasing.h.

◆ PCA9685_MODE_1_RESTART

#define PCA9685_MODE_1_RESTART 7

Definition at line 434 of file ServoEasing.h.

◆ PCA9685_MODE_1_SLEEP

#define PCA9685_MODE_1_SLEEP 4

Definition at line 436 of file ServoEasing.h.

◆ PCA9685_PRESCALE_REGISTER

#define PCA9685_PRESCALE_REGISTER 0xFE

Definition at line 439 of file ServoEasing.h.

◆ PCA9685_PRESCALER_FOR_20_MS

#define PCA9685_PRESCALER_FOR_20_MS ((PCA9685_ACTUAL_CLOCK_FREQUENCY /(4096L * 50)) - 1)

Definition at line 445 of file ServoEasing.h.

◆ PCA9685_SOFTWARE_RESET

#define PCA9685_SOFTWARE_RESET 6

Definition at line 430 of file ServoEasing.h.

◆ SERVO_REFRESH_FREQUENCY

#define SERVO_REFRESH_FREQUENCY (MILLIS_IN_ONE_SECOND/SERVO_REFRESH_INTERVAL_MILLIS)

Definition at line 198 of file ServoEasing.h.

◆ SERVO_REFRESH_INTERVAL_MICROS

#define SERVO_REFRESH_INTERVAL_MICROS 20000

Definition at line 192 of file ServoEasing.h.

◆ SERVO_REFRESH_INTERVAL_MILLIS

#define SERVO_REFRESH_INTERVAL_MILLIS (SERVO_REFRESH_INTERVAL_MICROS/1000)

Definition at line 197 of file ServoEasing.h.

◆ sServoArray

#define sServoArray ServoEasing::ServoEasingArray

Definition at line 728 of file ServoEasing.h.

◆ sServoNextPositionArray

#define sServoNextPositionArray ServoEasing::ServoEasingNextPositionArray

Definition at line 729 of file ServoEasing.h.

◆ START_EASE_TO_SPEED

#define START_EASE_TO_SPEED 5

Definition at line 51 of file ServoEasing.h.

◆ START_UPDATE_BY_INTERRUPT

#define START_UPDATE_BY_INTERRUPT true

Definition at line 448 of file ServoEasing.h.

◆ STR

#define STR ( x ) STR_HELPER(x)

Definition at line 797 of file ServoEasing.h.

◆ STR_HELPER

#define STR_HELPER ( x ) #x

Definition at line 796 of file ServoEasing.h.

◆ THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS

#define THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS 360

Definition at line 224 of file ServoEasing.h.

◆ VERSION_HEX_VALUE

#define VERSION_HEX_VALUE	(	major,
		minor,
		patch
	)	((major << 16) \| (minor << 8) \| (patch))

Definition at line 41 of file ServoEasing.h.

◆ VERSION_SERVO_EASING

#define VERSION_SERVO_EASING "3.6.0"

Definition at line 27 of file ServoEasing.h.

◆ VERSION_SERVO_EASING_HEX

#define VERSION_SERVO_EASING_HEX VERSION_HEX_VALUE(VERSION_SERVO_EASING_MAJOR, VERSION_SERVO_EASING_MINOR, VERSION_SERVO_EASING_PATCH)

Definition at line 42 of file ServoEasing.h.

◆ VERSION_SERVO_EASING_MAJOR

#define VERSION_SERVO_EASING_MAJOR 3

Definition at line 28 of file ServoEasing.h.

◆ VERSION_SERVO_EASING_MINOR

#define VERSION_SERVO_EASING_MINOR 6

Definition at line 29 of file ServoEasing.h.

◆ VERSION_SERVO_EASING_PATCH

#define VERSION_SERVO_EASING_PATCH 0

Definition at line 30 of file ServoEasing.h.

Function Documentation

◆ checkI2CConnection()

bool checkI2CConnection	(	uint8_t	aI2CAddress,
		Stream *	aSerial
	)

◆ clipDegreeSpecial()

int clipDegreeSpecial ( uint_fast8_t aDegreeToClip )

Clips the unsigned degree value and handles unsigned underflow.

Returns: 0 if aDegreeToClip >= 218 and 180 if 180 <= aDegreeToClip < 218

Definition at line 1991 of file ServoEasing.hpp.

◆ delayAndUpdateAndWaitForAllServosToStop()

bool delayAndUpdateAndWaitForAllServosToStop	(	unsigned long	aMillisDelay,
		bool	aTerminateDelayIfAllServosStopped
	)

Parameters

aMillisDelay	the milliseconds for blocking wait and update
aTerminateDelayIfAllServosStopped	if true, function returns before aMillisDelay if all servos are stopped

Returns: true if all Servos reached endAngle / stopped

Definition at line 2662 of file ServoEasing.hpp.

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◆ disableServoEasingInterrupt()

void disableServoEasingInterrupt ( )

Definition at line 2257 of file ServoEasing.hpp.

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◆ enableServoEasingInterrupt()

void enableServoEasingInterrupt ( )

Timer1 is used for the Arduino Servo library.

To have non blocking easing functions its unused channel B is used to generate an interrupt 100 us before the end of the 20 ms Arduino Servo refresh period. This interrupt then updates all servo values for the next refresh period. First interrupt is triggered not directly, but after 20 ms, since we are often called here at the time of the last interrupt of the preceding servo move.

Definition at line 2048 of file ServoEasing.hpp.

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◆ isOneServoMoving()

bool isOneServoMoving ( )

Definition at line 2579 of file ServoEasing.hpp.

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◆ printArrayPositions()

void printArrayPositions ( Print * aSerial )

Prints content of ServoNextPositionArray for debugging purposes.

Parameters

aSerial The Print object on which to write, for Arduino you can use &Serial.

Definition at line 2440 of file ServoEasing.hpp.

◆ resumeWithInterruptsAllServos()

void resumeWithInterruptsAllServos ( )

Definition at line 2611 of file ServoEasing.hpp.

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◆ resumeWithoutInterruptsAllServos()

void resumeWithoutInterruptsAllServos ( )

Definition at line 2619 of file ServoEasing.hpp.

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◆ setEaseToDForAllServos()

bool setEaseToDForAllServos ( uint_fast16_t aMillisForMove )

Sets target position using content of ServoEasingNextPositionArray and use aMillisForMove instead of the speed stored in mSpeed.

Does not start interrupt/movement!

Returns: false if one servo was still moving

Definition at line 2568 of file ServoEasing.hpp.

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◆ setEaseToForAllServos() [1/2]

bool setEaseToForAllServos ( )

Sets target position using content of ServoEasingNextPositionArray.

Does not start interrupt/movement!

Returns: false if one servo was still moving

Definition at line 2535 of file ServoEasing.hpp.

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◆ setEaseToForAllServos() [2/2]

bool setEaseToForAllServos ( uint_fast16_t aDegreesPerSecond )

Sets target position using content of ServoEasingNextPositionArray and use aDegreesPerSecond instead of the one stored in mSpeed.

Does not start interrupt/movement!

Returns: false if one servo was still moving

Definition at line 2552 of file ServoEasing.hpp.

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◆ setEaseToForAllServosSynchronizeAndStartInterrupt() [1/2]

void setEaseToForAllServosSynchronizeAndStartInterrupt ( )

Definition at line 2402 of file ServoEasing.hpp.

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◆ setEaseToForAllServosSynchronizeAndStartInterrupt() [2/2]

void setEaseToForAllServosSynchronizeAndStartInterrupt ( uint_fast16_t aDegreesPerSecond )

Definition at line 2407 of file ServoEasing.hpp.

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◆ setEaseToForAllServosSynchronizeAndWaitForAllServosToStop() [1/2]

void setEaseToForAllServosSynchronizeAndWaitForAllServosToStop ( )

Synchronize and blocking wait until all servos are stopped Take the longer duration in order to move all servos synchronously.

Definition at line 2416 of file ServoEasing.hpp.

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◆ setEaseToForAllServosSynchronizeAndWaitForAllServosToStop() [2/2]

void setEaseToForAllServosSynchronizeAndWaitForAllServosToStop ( uint_fast16_t aDegreesPerSecond )

Definition at line 2421 of file ServoEasing.hpp.

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◆ setEasingTypeForAllServos()

void setEasingTypeForAllServos ( uint_fast8_t aEasingType )

60 us for single servo + 160 us per servo if using I2C e.g.for PCA9685 expander at 400 kHz or + 100 at 800 kHz 20 us for last interrupt The first servo pulse starts just after this interrupt routine has finished

Definition at line 2386 of file ServoEasing.hpp.

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◆ setEasingTypeForMultipleServos()

void setEasingTypeForMultipleServos	(	uint_fast8_t	aNumberOfServos,
		uint_fast8_t	aEasingType
	)

Sets easing type aEasingType for the first aNumberOfServos in ServoEasingArray[].

Definition at line 2393 of file ServoEasing.hpp.

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◆ setSpeedForAllServos()

void setSpeedForAllServos ( uint_fast16_t aDegreesPerSecond )

Definition at line 2475 of file ServoEasing.hpp.

◆ stopAllServos()

void stopAllServos ( )

Definition at line 2588 of file ServoEasing.hpp.

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◆ synchronizeAllServosAndStartInterrupt()

void synchronizeAllServosAndStartInterrupt	(	bool	aStartUpdateByInterrupt,
		bool	aSynchronizeToMinimumDuration
	)

Take the longest duration in order to move all servos synchronously.

Parameters

aSynchronizeToMinimumDuration - Take the shortest duration for synchronizing

Definition at line 2691 of file ServoEasing.hpp.

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◆ synchronizeAllServosStartAndWaitForAllServosToStop()

void synchronizeAllServosStartAndWaitForAllServosToStop ( )

Synchronize and blocking wait until all servos are stopped.

Definition at line 2682 of file ServoEasing.hpp.

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◆ synchronizeAndEaseToArrayPositions() [1/2]

void synchronizeAndEaseToArrayPositions ( )

Definition at line 2426 of file ServoEasing.hpp.

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◆ synchronizeAndEaseToArrayPositions() [2/2]

void synchronizeAndEaseToArrayPositions ( uint_fast16_t aDegreesPerSecond )

Definition at line 2431 of file ServoEasing.hpp.

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◆ updateAllServos()

bool updateAllServos ( )

Returns: true if all Servos reached endAngle / stopped

Definition at line 2630 of file ServoEasing.hpp.

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◆ updateAndWaitForAllServosToStop()

void updateAndWaitForAllServosToStop ( )

Blocking wait until all servos are stopped.

Definition at line 2650 of file ServoEasing.hpp.

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◆ writeAllServos()

void writeAllServos ( int aTargetDegreeOrMicrosecond )

Definition at line 2467 of file ServoEasing.hpp.

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Variable Documentation

◆ PROGMEM

const char* const easeTypeStrings [] PROGMEM

Definition at line 410 of file ServoEasing.h.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ areInterruptsActive

◆ CALL_STYLE_BOUNCING_OUT_IN

◆ CALL_STYLE_DIRECT

◆ CALL_STYLE_IN

◆ CALL_STYLE_IN_OUT

◆ CALL_STYLE_MASK

◆ CALL_STYLE_OUT

◆ DEFAULT_MICROSECONDS_FOR_0_DEGREE

◆ DEFAULT_MICROSECONDS_FOR_135_DEGREE

◆ DEFAULT_MICROSECONDS_FOR_180_DEGREE

◆ DEFAULT_MICROSECONDS_FOR_45_DEGREE

◆ DEFAULT_MICROSECONDS_FOR_90_DEGREE

◆ DEFAULT_PCA9685_UNITS_FOR_0_DEGREE

◆ DEFAULT_PCA9685_UNITS_FOR_135_DEGREE

◆ DEFAULT_PCA9685_UNITS_FOR_180_DEGREE

◆ DEFAULT_PCA9685_UNITS_FOR_45_DEGREE

◆ DEFAULT_PCA9685_UNITS_FOR_90_DEGREE

◆ DEFAULT_PULSE_WIDTH

◆ DO_NOT_START_UPDATE_BY_INTERRUPT

◆ EASE_BACK_BOUNCING

◆ EASE_BACK_IN

◆ EASE_BACK_IN_OUT

◆ EASE_BACK_OUT

◆ EASE_BOUNCE_IN

◆ EASE_BOUNCE_OUT

◆ EASE_CIRCULAR_BOUNCING

◆ EASE_CIRCULAR_IN

◆ EASE_CIRCULAR_IN_OUT

◆ EASE_CIRCULAR_OUT

◆ EASE_CUBIC_BOUNCING

◆ EASE_CUBIC_IN

◆ EASE_CUBIC_IN_OUT

◆ EASE_CUBIC_OUT

◆ EASE_DUMMY_MOVE

◆ EASE_ELASTIC_BOUNCING

◆ EASE_ELASTIC_IN

◆ EASE_ELASTIC_IN_OUT

◆ EASE_ELASTIC_OUT

◆ EASE_FUNCTION_DEGREE_INDICATOR_OFFSET

◆ EASE_FUNCTION_DEGREE_THRESHOLD

◆ EASE_FUNCTION_MICROSECONDS_INDICATOR_OFFSET

◆ EASE_LINEAR

◆ EASE_PRECISION_IN

◆ EASE_PRECISION_OUT

◆ EASE_QUADRATIC_BOUNCING

◆ EASE_QUADRATIC_IN

◆ EASE_QUADRATIC_IN_OUT

◆ EASE_QUADRATIC_OUT

◆ EASE_QUARTIC_BOUNCING

◆ EASE_QUARTIC_IN

◆ EASE_QUARTIC_IN_OUT

◆ EASE_QUARTIC_OUT

◆ EASE_SINE_BOUNCING

◆ EASE_SINE_IN

◆ EASE_SINE_IN_OUT

◆ EASE_SINE_OUT

◆ EASE_TYPE_MASK

◆ EASE_USER_BOUNCING

◆ EASE_USER_DIRECT

◆ EASE_USER_IN

◆ EASE_USER_IN_OUT

◆ EASE_USER_OUT

◆ ENABLE_EASE_BACK

◆ ENABLE_EASE_BOUNCE

◆ ENABLE_EASE_CIRCULAR

◆ ENABLE_EASE_CUBIC

◆ ENABLE_EASE_ELASTIC

◆ ENABLE_EASE_PRECISION

◆ ENABLE_EASE_QUADRATIC

◆ ENABLE_EASE_QUARTIC

◆ ENABLE_EASE_SINE

◆ ENABLE_EASE_USER

◆ INVALID_SERVO

◆ MAX_EASING_SERVOS

◆ MAXIMUM_PULSE_WIDTH