#include <Arduino.h>
#include "ServoEasing.h"

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Macros
#define	PART_OF_LINEAR_MOVEMENT 0.8

#define	PART_OF_BOUNCE_MOVEMENT (1.0 - PART_OF_LINEAR_MOVEMENT)

#define	PART_OF_BOUNCE_MOVEMENT_HALF ((1.0 - PART_OF_LINEAR_MOVEMENT) / 2)

#define	OVERSHOOT_AMOUNT_MILLIS 50

#define	OVERSHOOT_AMOUNT_UNITS 10

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

void	handleServoTimerInterrupt ()
	Update all servos from list and check if all servos have stopped. More...

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

void	disableServoEasingInterrupt ()

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	setEaseToForAllServosSynchronizeAndStartInterrupt ()

void	setEaseToForAllServosSynchronizeAndStartInterrupt (uint_fast16_t aDegreesPerSecond)

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 ()

void	synchronizeAndEaseToArrayPositions (uint_fast16_t aDegreesPerSecond)

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

void	writeAllServos (int aDegreeOrMicrosecond)

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...

bool	isOneServoMoving ()

void	stopAllServos ()

void	pauseAllServos ()

void	resumeWithInterruptsAllServos ()

void	resumeWithoutInterruptsAllServos ()

bool	updateAllServos ()

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

bool	delayAndUpdateAndWaitForAllServosToStop (unsigned long aMillisDelay, bool aTerminateDelayIfAllServosStopped)

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

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

Variables
const char easeTypeLinear[]	PROGMEM = "linear"

Macro Definition Documentation

◆ OVERSHOOT_AMOUNT_MILLIS

#define OVERSHOOT_AMOUNT_MILLIS 50

Definition at line 2806 of file ServoEasing.hpp.

◆ OVERSHOOT_AMOUNT_UNITS

#define OVERSHOOT_AMOUNT_UNITS 10

Definition at line 2807 of file ServoEasing.hpp.

◆ PART_OF_BOUNCE_MOVEMENT

#define PART_OF_BOUNCE_MOVEMENT (1.0 - PART_OF_LINEAR_MOVEMENT)

Definition at line 2803 of file ServoEasing.hpp.

◆ PART_OF_BOUNCE_MOVEMENT_HALF

#define PART_OF_BOUNCE_MOVEMENT_HALF ((1.0 - PART_OF_LINEAR_MOVEMENT) / 2)

Definition at line 2804 of file ServoEasing.hpp.

◆ PART_OF_LINEAR_MOVEMENT

#define PART_OF_LINEAR_MOVEMENT 0.8

Definition at line 2802 of file ServoEasing.hpp.

Function Documentation

◆ 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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◆ handleServoTimerInterrupt()

void handleServoTimerInterrupt ( )

Update all servos from list and check if all servos have stopped.

Guarded by an macro in order to be able to overwrite it, e.g. for synchronizing with NeoPixel updates, which otherwise leads to servo twitching. See QuadrupedNeoPixel.cpp of QuadrupedControl example. We have (at least on Uno, Nano etc.) 100 us before the next servo period starts. See also setTimer1InterruptMarginMicros();

Definition at line 2012 of file ServoEasing.hpp.

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◆ isOneServoMoving()

bool isOneServoMoving ( )

Definition at line 2579 of file ServoEasing.hpp.

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◆ pauseAllServos()

void pauseAllServos ( )

Definition at line 2599 of file ServoEasing.hpp.

◆ 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 aDegreeOrMicrosecond )

Definition at line 2467 of file ServoEasing.hpp.

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Variable Documentation

◆ PROGMEM

const char* const easeTypeStrings [] PROGMEM = "linear"

Definition at line 164 of file ServoEasing.hpp.

Macros

Functions

Variables

Macro Definition Documentation

◆ OVERSHOOT_AMOUNT_MILLIS

◆ OVERSHOOT_AMOUNT_UNITS

◆ PART_OF_BOUNCE_MOVEMENT

◆ PART_OF_BOUNCE_MOVEMENT_HALF

◆ PART_OF_LINEAR_MOVEMENT

Function Documentation

◆ clipDegreeSpecial()

◆ delayAndUpdateAndWaitForAllServosToStop()

◆ disableServoEasingInterrupt()

◆ enableServoEasingInterrupt()

◆ handleServoTimerInterrupt()

◆ isOneServoMoving()

◆ pauseAllServos()

◆ printArrayPositions()

◆ resumeWithInterruptsAllServos()

◆ resumeWithoutInterruptsAllServos()

◆ setEaseToDForAllServos()

◆ setEaseToForAllServos() [1/2]

◆ setEaseToForAllServos() [2/2]

◆ setEaseToForAllServosSynchronizeAndStartInterrupt() [1/2]

◆ setEaseToForAllServosSynchronizeAndStartInterrupt() [2/2]

◆ setEaseToForAllServosSynchronizeAndWaitForAllServosToStop() [1/2]

◆ setEaseToForAllServosSynchronizeAndWaitForAllServosToStop() [2/2]

◆ setEasingTypeForAllServos()

◆ setEasingTypeForMultipleServos()

◆ setSpeedForAllServos()

◆ stopAllServos()

◆ synchronizeAllServosAndStartInterrupt()

◆ synchronizeAllServosStartAndWaitForAllServosToStop()

◆ synchronizeAndEaseToArrayPositions() [1/2]

◆ synchronizeAndEaseToArrayPositions() [2/2]

◆ updateAllServos()

◆ updateAndWaitForAllServosToStop()

◆ writeAllServos()

Variable Documentation

◆ PROGMEM