#include <ServoEasing.h>

Inheritance diagram for ServoEasing:

Collaboration diagram for ServoEasing:

Public Member Functions
	ServoEasing ()

uint8_t	attach (int aPin)
	Specify the microseconds values for 0 and 180 degree for the servo. More...

uint8_t	attach (int aPin, int aInitialDegreeOrMicrosecond)
	Combination of attach with initial write(). More...

uint8_t	attachWithTrim (int aPin, int aTrimDegreeOrMicrosecond, int aInitialDegreeOrMicrosecond)
	Combination of attach with initial setTrim() and write(). More...

uint8_t	attach (int aPin, int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree)

uint8_t	attach (int aPin, int aInitialDegreeOrMicrosecond, int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree)
	Specify the start value written to the servo and the microseconds values for 0 and 180 degree for the servo. More...

uint8_t	attachWithTrim (int aPin, int aTrimDegreeOrMicrosecond, int aInitialDegreeOrMicrosecond, int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree)

uint8_t	attach (int aPin, int aMicrosecondsForServoLowDegree, int aMicrosecondsForServoHighDegree, int aServoLowDegree, int aServoHighDegree)
	Attaches servo to pin and sets the servo timing parameters. More...

uint8_t	attach (int aPin, int aInitialDegreeOrMicrosecond, int aMicrosecondsForServoLowDegree, int aMicrosecondsForServoHighDegree, int aServoLowDegree, int aServoHighDegree)
	The microseconds values at aServoLowDegree and aServoHighDegree are used to compute the microseconds values at 0 and 180 degrees By modifying the Micoseconds* and *Degree parameter values you can also provide an initial trim and reverse. More...

uint8_t	attachWithTrim (int aPin, int aTrimDegreeOrMicrosecond, int aInitialDegreeOrMicrosecond, int aMicrosecondsForServoLowDegree, int aMicrosecondsForServoHighDegree, int aServoLowDegree, int aServoHighDegree)

void	detach ()
	Mark a detached servo in the array by setting the object pointer to NULL The next attach() then uses this NULL pointer position and thus gets the index of the former detached one. More...

void	setReverseOperation (bool aOperateServoReverse)

void	setTrim (int aTrimDegreeOrMicrosecond, bool aDoWrite=false)

void	_setTrimMicrosecondsOrUnits (int aTrimMicrosecondsOrUnits, bool aDoWrite=false)

void	setMaxConstraint (int aMaxDegreeOrMicrosecond)

void	setMinConstraint (int aMinDegreeOrMicrosecond)

void	setMinMaxConstraint (int aMinDegreeOrMicrosecond, int aMaxDegreeOrMicrosecond)

void	setEasingType (uint_fast8_t aEasingType)

uint_fast8_t	getEasingType ()

float	callEasingFunction (float aPercentageOfCompletion)

void	registerUserEaseInFunction (float(aUserEaseInFunction)(float aPercentageOfCompletion, void aUserDataPointer), void *aUserDataPointer=NULL)

void	setUserDataPointer (void *aUserDataPointer)

void	write (int aTargetDegreeOrMicrosecond)

void	_writeMicrosecondsOrUnits (int aTargetDegreeOrMicrosecond)
	Internal function Before sending the value to the underlying Servo library, trim and reverse is applied. More...

void	easeTo (int aTargetDegreeOrMicrosecond)

void	easeTo (int aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)
	Blocking move without interrupt. More...

void	easeToD (int aTargetDegreeOrMicrosecond, uint_fast16_t aMillisForMove)

bool	setEaseTo (int aTargetDegreeOrMicrosecond)

bool	setEaseTo (int aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)
	Sets easing parameter, but does not start interrupt. More...

bool	startEaseTo (int aTargetDegreeOrMicrosecond)
	Starts interrupt for update() More...

bool	startEaseTo (int aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond, bool aStartUpdateByInterrupt=START_UPDATE_BY_INTERRUPT)
	Compute the MillisForCompleteMove parameter for use of startEaseToD() function and handle CALL_STYLE_BOUNCING_OUT_IN flag, which requires double time. More...

bool	setEaseToD (int aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)
	Sets easing parameter, but does not start. More...

bool	startEaseToD (int aTargetDegreeOrMicrosecond, uint_fast16_t aMillisForMove, bool aStartUpdateByInterrupt=START_UPDATE_BY_INTERRUPT)
	Sets up all the values required for a smooth move to new value Lower level function with time instead of speed parameter. More...

void	write (float aTargetDegreeOrMicrosecond)

void	easeTo (float aTargetDegreeOrMicrosecond)

void	easeTo (float aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)

void	easeToD (float aTargetDegreeOrMicrosecond, uint_fast16_t aMillisForMove)

bool	setEaseTo (float aTargetDegreeOrMicrosecond)

bool	setEaseTo (float aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)

bool	startEaseTo (float aTargetDegreeOrMicrosecond)

bool	startEaseTo (float aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond, bool aStartUpdateByInterrupt=START_UPDATE_BY_INTERRUPT)

bool	setEaseToD (float aTargetDegreeOrMicrosecond, uint_fast16_t aDegreesPerSecond)

bool	startEaseToD (float aTargetDegreeOrMicrosecond, uint_fast16_t aMillisForMove, bool aStartUpdateByInterrupt=START_UPDATE_BY_INTERRUPT)

bool	noMovement (uint_fast16_t aMillisToWait)
	stay at the position for aMillisToWait Used as delay for callback More...

void	setSpeed (uint_fast16_t aDegreesPerSecond)

uint_fast16_t	getSpeed ()

void	stop ()
	This stops the servo at any position. More...

void	pause ()

void	resumeWithInterrupts ()

void	resumeWithoutInterrupts ()

bool	update ()

void	setTargetPositionReachedHandler (void(aTargetPositionReachedHandler)(ServoEasing ))

int	getCurrentAngle ()

int	getCurrentMicroseconds ()

int	getEndMicrosecondsOrUnits ()

int	getEndMicrosecondsOrUnitsWithTrim ()
	Not used internally. More...

int	getDeltaMicrosecondsOrUnits ()

int	getMillisForCompleteMove ()

bool	isMoving ()
	Test if servo is moving yet. More...

bool	isMovingAndCallYield () __attribute__((deprecated("Replaced by isMoving(). Often better to use areInterruptsActive() instead.")))
	Call yield here (actually only for ESP8266), so the user do not need to care for it in long running loops. More...

int	MicrosecondsOrUnitsToDegree (int aMicrosecondsOrUnits)
	Used to convert e.g. More...

int	MicrosecondsToDegree (int aMicroseconds)
	Only used in startEaseTo to compute target degree For PCA9685, we have stored units in mServo0DegreeMicrosecondsOrUnits and mServo180DegreeMicrosecondsOrUnits. More...

int	MicrosecondsOrUnitsToMicroseconds (int aMicrosecondsOrUnits)

int	DegreeOrMicrosecondToMicrosecondsOrUnits (int aDegreeOrMicrosecond)
	We have around 10 us per degree Used to convert (external) provided degree values to internal microseconds For degree parameter, return map(aDegreeOrMicrosecond, 0, 180, mServo0DegreeMicrosecondsOrUnits, mServo180DegreeMicrosecondsOrUnits);. More...

int	DegreeOrMicrosecondToMicrosecondsOrUnits (float aDegreeOrMicrosecond)

int	DegreeToMicrosecondsOrUnitsWithTrimAndReverse (int aDegree)
	Mainly for testing, since trim and reverse are applied at each write. More...

void	synchronizeServosAndStartInterrupt (bool doUpdateByInterrupt)

void	print (Print *aSerial, bool doExtendedOutput=true)
	Do a printDynamic() and a printStatic() More...

void	printDynamic (Print *aSerial, bool doExtendedOutput=true)
	Prints values which may change from move to move. More...

void	printStatic (Print *aSerial)
	Prints values which normally does NOT change from move to move. More...

float	LinearWithQuadraticBounce (float aPercentageOfCompletion)
	PRECISION (LinearWithQuadraticBounce) is like linear, but adds a 5 degree bounce in the last 20 % of the movement time at one direction. More...

bool	InitializeAndCheckI2CConnection (Stream *aSerial)

Static Public Member Functions
static void	printEasingType (Print *aSerial, uint_fast8_t aEasingType)

static float	QuadraticEaseIn (float aPercentageOfCompletion)
	The simplest non linear easing function. More...

static float	CubicEaseIn (float aPercentageOfCompletion)

static float	QuarticEaseIn (float aPercentageOfCompletion)

static float	SineEaseIn (float aPercentageOfCompletion)
	Take half of negative cosines of first quadrant Is behaves almost like QUADRATIC. More...

static float	CircularEaseIn (float aPercentageOfCompletion)
	It is very fast in the middle! see: https://easings.net/#easeInOutCirc and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c. More...

static float	BackEaseIn (float aPercentageOfCompletion)
	see: https://easings.net/#easeInOutBack and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c More...

static float	ElasticEaseIn (float aPercentageOfCompletion)
	see: https://easings.net/#easeInOutElastic and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c More...

static float	EaseOutBounce (float aPercentageOfCompletion)
	!!! ATTENTION !!! we have only the out function implemented see: https://easings.net/de#easeOutBounce and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c More...

static bool	areInterruptsActive ()
	The recommended test if at least one servo is moving yet. More...

Public Attributes
volatile int	mCurrentMicrosecondsOrUnits
	Internally only microseconds (or units (= 4.88 us) if using PCA9685 expander) and not degree are used to speed up things. More...

int	mStartMicrosecondsOrUnits
	Only used with millisAtStartMove to compute currentMicrosecondsOrUnits in update() More...

int	mEndMicrosecondsOrUnits
	Only used once as last value if movement was finished to provide exact end position. More...

int	mDeltaMicrosecondsOrUnits
	end - start More...

uint_fast16_t	mSpeed
	max speed is 450 degree/sec for SG90 and 540 degree/second for MG90 servos -> see speedTest.cpp More...

uint8_t	mEasingType

void *	UserDataPointer

float(*	mUserEaseInFunction )(float aPercentageOfCompletion, void *aUserDataPointer)

volatile bool	mServoMoves

uint8_t	mServoPin
	pin number / port number of PCA9685 [0-15] or NO_SERVO_ATTACHED_PIN_NUMBER - at least required for Lightweight Servo Library More...

uint8_t	mServoIndex
	Index in sServoArray or INVALID_SERVO if error while attach() or if detached. More...

uint32_t	mMillisAtStartMove

uint_fast16_t	mMillisForCompleteMove

bool	mServoIsPaused

uint32_t	mMillisAtStopMove

bool	mOperateServoReverse
	Reverse means, that values for 180 and 0 degrees are swapped by: aValue = mServo180DegreeMicrosecondsOrUnits - (aValue - mServo0DegreeMicrosecondsOrUnits) Be careful, if you specify different end values, it may not behave, as you expect. More...

int	mMaxMicrosecondsOrUnits
	Max value checked at _writeMicrosecondsOrUnits(), before trim and reverse is applied. More...

int	mMinMicrosecondsOrUnits
	Min value checked at _writeMicrosecondsOrUnits(), before trim and reverse is applied. More...

int	mTrimMicrosecondsOrUnits
	This value is always added by the function _writeMicrosecondsOrUnits() to the requested degree/units/microseconds value. More...

int	mServo0DegreeMicrosecondsOrUnits
	Values contain always microseconds except for servos connected to a PCA9685 expander, where they contain PWM units. More...

int	mServo180DegreeMicrosecondsOrUnits

void(*	TargetPositionReachedHandler )(ServoEasing *)
	Is called any time when target servo position is reached. More...

Static Public Attributes
static volatile bool	sInterruptsAreActive = false
	It is required for ESP32, where the timer interrupt routine does not block the loop. More...

static uint_fast8_t	sServoArrayMaxIndex = 0
	Two arrays of all servos to enable synchronized movings Servos are inserted in the order, in which they are attached I use an fixed array and not a list, since accessing an array is much easier and faster. More...

static ServoEasing *	ServoEasingArray [MAX_EASING_SERVOS]

static float	ServoEasingNextPositionArray [MAX_EASING_SERVOS]
	Used exclusively for *ForAllServos() functions. More...

Detailed Description

Definition at line 414 of file ServoEasing.h.

Constructor & Destructor Documentation

◆ ServoEasing()

ServoEasing::ServoEasing ( )

Definition at line 395 of file ServoEasing.hpp.

Member Function Documentation

◆ _setTrimMicrosecondsOrUnits()

void ServoEasing::_setTrimMicrosecondsOrUnits	(	int	aTrimMicrosecondsOrUnits,
		bool	aDoWrite = `false`
	)

Parameters

aTrimMicrosecondsOrUnits	This trim value is always added to the degree/units/microseconds value requested
aDoWrite	If true, apply value directly to servo by calling _writeMicrosecondsOrUnits() using mCurrentMicrosecondsOrUnits This shows the effect of the trim as a servo movement If false, no internal value e.g. ServoEasingNextPositionArray or mCurrentMicrosecondsOrUnits is updated!

Note: mTrimMicrosecondsOrUnits is exclusively added by _writeMicrosecondsOrUnits()

Definition at line 715 of file ServoEasing.hpp.

◆ _writeMicrosecondsOrUnits()

void ServoEasing::_writeMicrosecondsOrUnits ( int aTargetDegreeOrMicrosecond )

Internal function Before sending the value to the underlying Servo library, trim and reverse is applied.

Definition at line 801 of file ServoEasing.hpp.

◆ areInterruptsActive()

bool ServoEasing::areInterruptsActive ( )

static

The recommended test if at least one servo is moving yet.

Definition at line 1628 of file ServoEasing.hpp.

◆ attach() [1/6]

uint8_t ServoEasing::attach ( int aPin )

Specify the microseconds values for 0 and 180 degree for the servo.

The values can be determined by the EndPositionsTest example.

Parameters

aPin	Pin number or port number of PCA9685 [0-15]

If USE_LEIGHTWEIGHT_SERVO_LIB is enabled: Return 0/false if not pin 9 or 10 else return aPin Pin number != 9 results in using pin 10. If USE_PCA9685_SERVO_EXPANDER is enabled: Return true only if channel number is between 0 and 15 since PCA9685 has only 16 channels, else returns false Else return servoIndex / internal channel number

Definition at line 443 of file ServoEasing.hpp.

◆ attach() [2/6]

uint8_t ServoEasing::attach	(	int	aPin,
		int	aInitialDegreeOrMicrosecond
	)

Combination of attach with initial write().

Definition at line 455 of file ServoEasing.hpp.

◆ attach() [3/6]

uint8_t ServoEasing::attach	(	int	aPin,
		int	aInitialDegreeOrMicrosecond,
		int	aMicrosecondsForServo0Degree,
		int	aMicrosecondsForServo180Degree
	)

Specify the start value written to the servo and the microseconds values for 0 and 180 degree for the servo.

The values can be determined by the EndPositionsTest example. By modifying the Micoseconds* parameter values you can also provide an initial trim. Initial trim is the behavior for mTrimMicrosecondsOrUnits == 0.

Definition at line 473 of file ServoEasing.hpp.

◆ attach() [4/6]

uint8_t ServoEasing::attach	(	int	aPin,
		int	aInitialDegreeOrMicrosecond,
		int	aMicrosecondsForServoLowDegree,
		int	aMicrosecondsForServoHighDegree,
		int	aServoLowDegree,
		int	aServoHighDegree
	)

The microseconds values at aServoLowDegree and aServoHighDegree are used to compute the microseconds values at 0 and 180 degrees By modifying the Micoseconds* and *Degree parameter values you can also provide an initial trim and reverse.

Initial trim is the behavior for mTrimMicrosecondsOrUnits == 0. This can be used e.g. to run the servo from virtual -90 to +90 degree (See TwoServos example).

Definition at line 490 of file ServoEasing.hpp.

◆ attach() [5/6]

uint8_t ServoEasing::attach	(	int	aPin,
		int	aMicrosecondsForServo0Degree,
		int	aMicrosecondsForServo180Degree
	)

Definition at line 448 of file ServoEasing.hpp.

◆ attach() [6/6]

uint8_t ServoEasing::attach	(	int	aPin,
		int	aMicrosecondsForServoLowDegree,
		int	aMicrosecondsForServoHighDegree,
		int	aServoLowDegree,
		int	aServoHighDegree
	)

Attaches servo to pin and sets the servo timing parameters.

Parameters

aPin	Pin number or port number of PCA9685 [0-15]
aMicrosecondsForServoLowDegree,aMicrosecondsForServoHighDegree	no units accepted, only microseconds!
aServoLowDegree	can be negative. For this case an appropriate trim value is added, since this is the only way to handle negative values.
aServoHighDegree	The degree value for the corresponding aMicrosecondsForServoHighDegree parameter.

Returns: If USE_LEIGHTWEIGHT_SERVO_LIB is enabled: Return 0/false if not pin 9 or 10 else return aPin Pin number != 9 results in using pin 10. Else return servoIndex / internal channel number

Definition at line 517 of file ServoEasing.hpp.

◆ attachWithTrim() [1/3]

uint8_t ServoEasing::attachWithTrim	(	int	aPin,
		int	aTrimDegreeOrMicrosecond,
		int	aInitialDegreeOrMicrosecond
	)

Combination of attach with initial setTrim() and write().

Definition at line 462 of file ServoEasing.hpp.

◆ attachWithTrim() [2/3]

uint8_t ServoEasing::attachWithTrim	(	int	aPin,
		int	aTrimDegreeOrMicrosecond,
		int	aInitialDegreeOrMicrosecond,
		int	aMicrosecondsForServo0Degree,
		int	aMicrosecondsForServo180Degree
	)

Definition at line 478 of file ServoEasing.hpp.

◆ attachWithTrim() [3/3]

uint8_t ServoEasing::attachWithTrim	(	int	aPin,
		int	aTrimDegreeOrMicrosecond,
		int	aInitialDegreeOrMicrosecond,
		int	aMicrosecondsForServoLowDegree,
		int	aMicrosecondsForServoHighDegree,
		int	aServoLowDegree,
		int	aServoHighDegree
	)

Definition at line 498 of file ServoEasing.hpp.

◆ BackEaseIn()

float ServoEasing::BackEaseIn ( float aPercentageOfCompletion )

static

see: https://easings.net/#easeInOutBack and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c

Definition at line 2561 of file ServoEasing.hpp.

◆ callEasingFunction()

float ServoEasing::callEasingFunction ( float aPercentageOfCompletion )

Definition at line 1554 of file ServoEasing.hpp.

◆ CircularEaseIn()

float ServoEasing::CircularEaseIn ( float aPercentageOfCompletion )

static

It is very fast in the middle! see: https://easings.net/#easeInOutCirc and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c.

Definition at line 2553 of file ServoEasing.hpp.

◆ CubicEaseIn()

float ServoEasing::CubicEaseIn ( float aPercentageOfCompletion )

static

Definition at line 2532 of file ServoEasing.hpp.

◆ DegreeOrMicrosecondToMicrosecondsOrUnits() [1/2]

int ServoEasing::DegreeOrMicrosecondToMicrosecondsOrUnits ( float aDegreeOrMicrosecond )

Definition at line 989 of file ServoEasing.hpp.

◆ DegreeOrMicrosecondToMicrosecondsOrUnits() [2/2]

int ServoEasing::DegreeOrMicrosecondToMicrosecondsOrUnits ( int aDegreeOrMicrosecond )

We have around 10 us per degree Used to convert (external) provided degree values to internal microseconds For degree parameter, return map(aDegreeOrMicrosecond, 0, 180, mServo0DegreeMicrosecondsOrUnits, mServo180DegreeMicrosecondsOrUnits);.

Definition at line 963 of file ServoEasing.hpp.

◆ DegreeToMicrosecondsOrUnitsWithTrimAndReverse()

int ServoEasing::DegreeToMicrosecondsOrUnitsWithTrimAndReverse ( int aDegree )

Mainly for testing, since trim and reverse are applied at each write.

Definition at line 1018 of file ServoEasing.hpp.

◆ detach()

void ServoEasing::detach ( )

Mark a detached servo in the array by setting the object pointer to NULL The next attach() then uses this NULL pointer position and thus gets the index of the former detached one.

Definition at line 638 of file ServoEasing.hpp.

◆ EaseOutBounce()

float ServoEasing::EaseOutBounce ( float aPercentageOfCompletion )

static

!!! ATTENTION !!! we have only the out function implemented see: https://easings.net/de#easeOutBounce and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c

Definition at line 2664 of file ServoEasing.hpp.

◆ easeTo() [1/4]

void ServoEasing::easeTo ( float aTargetDegreeOrMicrosecond )

Definition at line 1032 of file ServoEasing.hpp.

◆ easeTo() [2/4]

void ServoEasing::easeTo	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond
	)

Definition at line 1053 of file ServoEasing.hpp.

◆ easeTo() [3/4]

void ServoEasing::easeTo ( int aTargetDegreeOrMicrosecond )

Definition at line 1028 of file ServoEasing.hpp.

◆ easeTo() [4/4]

void ServoEasing::easeTo	(	int	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond
	)

Blocking move without interrupt.

Parameters

aTargetDegreeOrMicrosecond	For servos connected to a PCA9685 assume units, else assume microseconds
aDegreesPerSecond	Can range from 1 to the physically maximum value of 450

Definition at line 1041 of file ServoEasing.hpp.

◆ easeToD() [1/2]

void ServoEasing::easeToD	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aMillisForMove
	)

Definition at line 1076 of file ServoEasing.hpp.

◆ easeToD() [2/2]

void ServoEasing::easeToD	(	int	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aMillisForMove
	)

Definition at line 1065 of file ServoEasing.hpp.

◆ ElasticEaseIn()

float ServoEasing::ElasticEaseIn ( float aPercentageOfCompletion )

static

see: https://easings.net/#easeInOutElastic and https://github.com/warrenm/AHEasing/blob/master/AHEasing/easing.c

Definition at line 2570 of file ServoEasing.hpp.

◆ getCurrentAngle()

int ServoEasing::getCurrentAngle ( )

Definition at line 1649 of file ServoEasing.hpp.

◆ getCurrentMicroseconds()

int ServoEasing::getCurrentMicroseconds ( )

Definition at line 1653 of file ServoEasing.hpp.

◆ getDeltaMicrosecondsOrUnits()

int ServoEasing::getDeltaMicrosecondsOrUnits ( )

Definition at line 1668 of file ServoEasing.hpp.

◆ getEasingType()

uint_fast8_t ServoEasing::getEasingType ( )

Definition at line 740 of file ServoEasing.hpp.

◆ getEndMicrosecondsOrUnits()

int ServoEasing::getEndMicrosecondsOrUnits ( )

Definition at line 1657 of file ServoEasing.hpp.

◆ getEndMicrosecondsOrUnitsWithTrim()

int ServoEasing::getEndMicrosecondsOrUnitsWithTrim ( )

Not used internally.

Definition at line 1664 of file ServoEasing.hpp.

◆ getMillisForCompleteMove()

int ServoEasing::getMillisForCompleteMove ( )

Definition at line 1672 of file ServoEasing.hpp.

◆ getSpeed()

uint_fast16_t ServoEasing::getSpeed ( )

Definition at line 683 of file ServoEasing.hpp.

◆ InitializeAndCheckI2CConnection()

bool ServoEasing::InitializeAndCheckI2CConnection ( Stream * aSerial )

◆ isMoving()

bool ServoEasing::isMoving ( )

Test if servo is moving yet.

Definition at line 1615 of file ServoEasing.hpp.

◆ isMovingAndCallYield()

bool ServoEasing::isMovingAndCallYield ( )

Call yield here (actually only for ESP8266), so the user do not need to care for it in long running loops.

yield() will only allow higher priority tasks to run. yield() is dangerous for ESP32, since the timer is detached AFTER mServoMoves is set to false in handleServoTimerInterrupt(). Then one core may check mServoMoves and start a new move with initializing the timer, and then the timer gets detached by handleServoTimerInterrupt() which leads to an error: CORRUPT HEAP: Bad head at ...

Definition at line 1645 of file ServoEasing.hpp.

◆ LinearWithQuadraticBounce()

float ServoEasing::LinearWithQuadraticBounce ( float aFactorOfTimeCompletion )

PRECISION (LinearWithQuadraticBounce) is like linear, but adds a 5 degree bounce in the last 20 % of the movement time at one direction.

So the target position is always approached from one side. This enables it to taken out the slack/backlash of any hardware moved by the servo. IN = Negative bounce for movings from above (go in to origin) OUT = Positive bounce for movings from below (go out from origin) we are called with 1.0 to 0.0

Returns: For non bounce phase of movement, return float value. For bouncing phase, return microseconds or units.

Definition at line 2588 of file ServoEasing.hpp.

◆ MicrosecondsOrUnitsToDegree()

int ServoEasing::MicrosecondsOrUnitsToDegree ( int aMicrosecondsOrUnits )

Used to convert e.g.

mCurrentMicrosecondsOrUnits back to degree

Parameters

aMicrosecondsOrUnits For servos connected to a PCA9685 assume units, else assume microseconds Do not use map function, because it does no rounding

Formula for microseconds: (aMicrosecondsOrUnits - mServo0DegreeMicrosecondsOrUnits) * (180 / 1856) // 1856 = 180 - 0 degree micros Formula for PCA9685 units (aMicrosecondsOrUnits - mServo0DegreeMicrosecondsOrUnits) * (180 / 380) // 380 = 180 - 0 degree units Formula for both without rounding map(aMicrosecondsOrUnits, mServo0DegreeMicrosecondsOrUnits, mServo180DegreeMicrosecondsOrUnits, 0, 180)

Definition at line 912 of file ServoEasing.hpp.

◆ MicrosecondsOrUnitsToMicroseconds()

int ServoEasing::MicrosecondsOrUnitsToMicroseconds ( int aMicrosecondsOrUnits )

Definition at line 949 of file ServoEasing.hpp.

◆ MicrosecondsToDegree()

int ServoEasing::MicrosecondsToDegree ( int aMicroseconds )

Only used in startEaseTo to compute target degree For PCA9685, we have stored units in mServo0DegreeMicrosecondsOrUnits and mServo180DegreeMicrosecondsOrUnits.

Parameters

aMicroseconds Always assume microseconds, thus for PCA9685 we must convert 0 and 180 degree values back to microseconds

Definition at line 892 of file ServoEasing.hpp.

◆ noMovement()

bool ServoEasing::noMovement ( uint_fast16_t aMillisToWait )

stay at the position for aMillisToWait Used as delay for callback

Definition at line 1223 of file ServoEasing.hpp.

◆ pause()

void ServoEasing::pause ( )

Definition at line 1356 of file ServoEasing.hpp.

◆ print()

void ServoEasing::print	(	Print *	aSerial,
		bool	doExtendedOutput = `true`
	)

Do a printDynamic() and a printStatic()

Parameters

aSerial	The Print object on which to write, for Arduino you can use &Serial.
doExtendedOutput	Print also microseconds values for degrees.

Definition at line 1681 of file ServoEasing.hpp.

◆ printDynamic()

void ServoEasing::printDynamic	(	Print *	aSerial,
		bool	doExtendedOutput = `true`
	)

Prints values which may change from move to move.

Parameters

aSerial	The Print object on which to write, for Arduino you can use &Serial.
doExtendedOutput	Print also microseconds values for degrees.

Definition at line 1714 of file ServoEasing.hpp.

◆ printEasingType()

void ServoEasing::printEasingType	(	Print *	aSerial,
		uint_fast8_t	aEasingType
	)

static

Parameters

aSerial	The Print object on which to write, for Arduino you can use &Serial.
aEasingType	No range checking!

Definition at line 1690 of file ServoEasing.hpp.

◆ printStatic()

void ServoEasing::printStatic ( Print * aSerial )

Prints values which normally does NOT change from move to move.

Parameters

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

Definition at line 1773 of file ServoEasing.hpp.

◆ QuadraticEaseIn()

float ServoEasing::QuadraticEaseIn ( float aPercentageOfCompletion )

static

The simplest non linear easing function.

Definition at line 2528 of file ServoEasing.hpp.

◆ QuarticEaseIn()

float ServoEasing::QuarticEaseIn ( float aPercentageOfCompletion )

static

Definition at line 2536 of file ServoEasing.hpp.

◆ registerUserEaseInFunction()

void ServoEasing::registerUserEaseInFunction	(	float()(float aPercentageOfCompletion, void aUserDataPointer)	aUserEaseInFunction,
		void *	aUserDataPointer = `NULL`
	)

Definition at line 745 of file ServoEasing.hpp.

◆ resumeWithInterrupts()

void ServoEasing::resumeWithInterrupts ( )

Definition at line 1363 of file ServoEasing.hpp.

◆ resumeWithoutInterrupts()

void ServoEasing::resumeWithoutInterrupts ( )

Definition at line 1371 of file ServoEasing.hpp.

◆ setEaseTo() [1/4]

bool ServoEasing::setEaseTo ( float aTargetDegreeOrMicrosecond )

Definition at line 1091 of file ServoEasing.hpp.

◆ setEaseTo() [2/4]

bool ServoEasing::setEaseTo	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond
	)

Definition at line 1103 of file ServoEasing.hpp.

◆ setEaseTo() [3/4]

bool ServoEasing::setEaseTo ( int aTargetDegreeOrMicrosecond )

Definition at line 1087 of file ServoEasing.hpp.

◆ setEaseTo() [4/4]

bool ServoEasing::setEaseTo	(	int	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond
	)

Sets easing parameter, but does not start interrupt.

Returns: false if servo was still moving

Definition at line 1099 of file ServoEasing.hpp.

◆ setEaseToD() [1/2]

bool ServoEasing::setEaseToD	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond
	)

Definition at line 1215 of file ServoEasing.hpp.

◆ setEaseToD() [2/2]

bool ServoEasing::setEaseToD	(	int	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aMillisForMove
	)

Sets easing parameter, but does not start.

Returns: false if servo was still moving

Definition at line 1211 of file ServoEasing.hpp.

◆ setEasingType()

void ServoEasing::setEasingType ( uint_fast8_t aEasingType )

Definition at line 736 of file ServoEasing.hpp.

◆ setMaxConstraint()

void ServoEasing::setMaxConstraint ( int aMaxDegreeOrMicrosecond )

Definition at line 723 of file ServoEasing.hpp.

◆ setMinConstraint()

void ServoEasing::setMinConstraint ( int aMinDegreeOrMicrosecond )

Definition at line 726 of file ServoEasing.hpp.

◆ setMinMaxConstraint()

void ServoEasing::setMinMaxConstraint	(	int	aMinDegreeOrMicrosecond,
		int	aMaxDegreeOrMicrosecond
	)

Definition at line 729 of file ServoEasing.hpp.

◆ setReverseOperation()

void ServoEasing::setReverseOperation ( bool aOperateServoReverse )

Note: Reverse means, that values for 180 and 0 degrees are swapped by: aValue = mServo180DegreeMicrosecondsOrUnits - (aValue - mServo0DegreeMicrosecondsOrUnits) Be careful, if you specify different end values, it may not behave, as you expect. For this case better use the attach function with 5 parameter. This flag is only used at _writeMicrosecondsOrUnits()

Definition at line 679 of file ServoEasing.hpp.

◆ setSpeed()

void ServoEasing::setSpeed ( uint_fast16_t aDegreesPerSecond )

Definition at line 687 of file ServoEasing.hpp.

◆ setTargetPositionReachedHandler()

void ServoEasing::setTargetPositionReachedHandler ( void(*)(ServoEasing *) aTargetPositionReachedHandler )

Definition at line 1378 of file ServoEasing.hpp.

◆ setTrim()

void ServoEasing::setTrim	(	int	aTrimDegreeOrMicrosecond,
		bool	aDoWrite = `false`
	)

Parameters

aTrimDegreeOrMicrosecond	This trim value is always added to the degree/units/microseconds value requested
aDoWrite	If true, apply value directly to servo by calling _writeMicrosecondsOrUnits() using mCurrentMicrosecondsOrUnits This shows the effect of the trim as a servo movement If false, no internal value e.g. ServoEasingNextPositionArray or mCurrentMicrosecondsOrUnits is updated!

Definition at line 697 of file ServoEasing.hpp.

◆ setUserDataPointer()

void ServoEasing::setUserDataPointer ( void * aUserDataPointer )

Definition at line 750 of file ServoEasing.hpp.

◆ SineEaseIn()

float ServoEasing::SineEaseIn ( float aPercentageOfCompletion )

static

Take half of negative cosines of first quadrant Is behaves almost like QUADRATIC.

Definition at line 2544 of file ServoEasing.hpp.

◆ startEaseTo() [1/4]

bool ServoEasing::startEaseTo ( float aTargetDegreeOrMicrosecond )

Definition at line 1114 of file ServoEasing.hpp.

◆ startEaseTo() [2/4]

bool ServoEasing::startEaseTo	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond,
		bool	aStartUpdateByInterrupt = `START_UPDATE_BY_INTERRUPT`
	)

Definition at line 1165 of file ServoEasing.hpp.

◆ startEaseTo() [3/4]

bool ServoEasing::startEaseTo ( int aTargetDegreeOrMicrosecond )

Starts interrupt for update()

Definition at line 1110 of file ServoEasing.hpp.

◆ startEaseTo() [4/4]

bool ServoEasing::startEaseTo	(	int	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aDegreesPerSecond,
		bool	aStartUpdateByInterrupt = `START_UPDATE_BY_INTERRUPT`
	)

Compute the MillisForCompleteMove parameter for use of startEaseToD() function and handle CALL_STYLE_BOUNCING_OUT_IN flag, which requires double time.

Returns: false if servo was still moving

Definition at line 1123 of file ServoEasing.hpp.

◆ startEaseToD() [1/2]

bool ServoEasing::startEaseToD	(	float	aTargetDegreeOrMicrosecond,
		uint_fast16_t	aMillisForMove,
		bool	aStartUpdateByInterrupt = `START_UPDATE_BY_INTERRUPT`
	)

Definition at line 1287 of file ServoEasing.hpp.

◆ startEaseToD() [2/2]

bool ServoEasing::startEaseToD	(	int	aDegreeOrMicrosecond,
		uint_fast16_t	aMillisForMove,
		bool	aStartUpdateByInterrupt = `START_UPDATE_BY_INTERRUPT`
	)

Sets up all the values required for a smooth move to new value Lower level function with time instead of speed parameter.

Returns: false if servo was still moving

Definition at line 1232 of file ServoEasing.hpp.

◆ stop()

void ServoEasing::stop ( )

This stops the servo at any position.

Definition at line 1346 of file ServoEasing.hpp.

◆ synchronizeServosAndStartInterrupt()

void ServoEasing::synchronizeServosAndStartInterrupt ( bool doUpdateByInterrupt )

◆ update()

bool ServoEasing::update ( )

Returns: true if endAngle was reached / servo stopped

Definition at line 1420 of file ServoEasing.hpp.

◆ write() [1/2]

void ServoEasing::write ( float aTargetDegreeOrMicrosecond )

Definition at line 778 of file ServoEasing.hpp.

◆ write() [2/2]

void ServoEasing::write ( int aTargetDegreeOrMicrosecond )

Parameters

aTargetDegreeOrMicrosecond treat values less than 400 as angles in degrees, others are handled as microseconds

Definition at line 759 of file ServoEasing.hpp.

Member Data Documentation

◆ mCurrentMicrosecondsOrUnits

volatile int ServoEasing::mCurrentMicrosecondsOrUnits

Internally only microseconds (or units (= 4.88 us) if using PCA9685 expander) and not degree are used to speed up things.

Other expander or libraries can therefore easily be added. set by write() and _writeMicrosecondsOrUnits(). Required as start for next move and to avoid unnecessary writes.

Definition at line 587 of file ServoEasing.h.

◆ mDeltaMicrosecondsOrUnits

int ServoEasing::mDeltaMicrosecondsOrUnits

end - start

Definition at line 590 of file ServoEasing.h.

◆ mEasingType

uint8_t ServoEasing::mEasingType

Definition at line 598 of file ServoEasing.h.

◆ mEndMicrosecondsOrUnits

int ServoEasing::mEndMicrosecondsOrUnits

Only used once as last value if movement was finished to provide exact end position.

Definition at line 589 of file ServoEasing.h.

◆ mMaxMicrosecondsOrUnits

int ServoEasing::mMaxMicrosecondsOrUnits

Max value checked at _writeMicrosecondsOrUnits(), before trim and reverse is applied.

Definition at line 635 of file ServoEasing.h.

◆ mMillisAtStartMove

uint32_t ServoEasing::mMillisAtStartMove

Definition at line 621 of file ServoEasing.h.

◆ mMillisAtStopMove

uint32_t ServoEasing::mMillisAtStopMove

Definition at line 625 of file ServoEasing.h.

◆ mMillisForCompleteMove

uint_fast16_t ServoEasing::mMillisForCompleteMove

Definition at line 622 of file ServoEasing.h.

◆ mMinMicrosecondsOrUnits

int ServoEasing::mMinMicrosecondsOrUnits

Min value checked at _writeMicrosecondsOrUnits(), before trim and reverse is applied.

Definition at line 636 of file ServoEasing.h.

◆ mOperateServoReverse

bool ServoEasing::mOperateServoReverse

Reverse means, that values for 180 and 0 degrees are swapped by: aValue = mServo180DegreeMicrosecondsOrUnits - (aValue - mServo0DegreeMicrosecondsOrUnits) Be careful, if you specify different end values, it may not behave, as you expect.

For this case better use the attach function with 5 parameter. true -> direction is reversed

Definition at line 633 of file ServoEasing.h.

◆ mServo0DegreeMicrosecondsOrUnits

int ServoEasing::mServo0DegreeMicrosecondsOrUnits

Values contain always microseconds except for servos connected to a PCA9685 expander, where they contain PWM units.

Values are set exclusively by attach(), and here it is determined if they contain microseconds or PWM units.

Definition at line 644 of file ServoEasing.h.

◆ mServo180DegreeMicrosecondsOrUnits

int ServoEasing::mServo180DegreeMicrosecondsOrUnits

Definition at line 645 of file ServoEasing.h.

◆ mServoIndex

uint8_t ServoEasing::mServoIndex

Index in sServoArray or INVALID_SERVO if error while attach() or if detached.

Definition at line 619 of file ServoEasing.h.

◆ mServoIsPaused

bool ServoEasing::mServoIsPaused

Definition at line 624 of file ServoEasing.h.

◆ mServoMoves

volatile bool ServoEasing::mServoMoves

Definition at line 605 of file ServoEasing.h.

◆ mServoPin

uint8_t ServoEasing::mServoPin

pin number / port number of PCA9685 [0-15] or NO_SERVO_ATTACHED_PIN_NUMBER - at least required for Lightweight Servo Library

Definition at line 617 of file ServoEasing.h.

◆ mSpeed

uint_fast16_t ServoEasing::mSpeed

max speed is 450 degree/sec for SG90 and 540 degree/second for MG90 servos -> see speedTest.cpp

in DegreesPerSecond - only set by setSpeed(int16_t aSpeed);

Definition at line 595 of file ServoEasing.h.

◆ mStartMicrosecondsOrUnits

int ServoEasing::mStartMicrosecondsOrUnits

Only used with millisAtStartMove to compute currentMicrosecondsOrUnits in update()

Definition at line 588 of file ServoEasing.h.

◆ mTrimMicrosecondsOrUnits

int ServoEasing::mTrimMicrosecondsOrUnits

This value is always added by the function _writeMicrosecondsOrUnits() to the requested degree/units/microseconds value.

Definition at line 638 of file ServoEasing.h.

◆ mUserEaseInFunction

float(* ServoEasing::mUserEaseInFunction) (float aPercentageOfCompletion, void *aUserDataPointer)

Definition at line 601 of file ServoEasing.h.

◆ ServoEasingArray

ServoEasing * ServoEasing::ServoEasingArray

static

Definition at line 663 of file ServoEasing.h.

◆ ServoEasingNextPositionArray

float ServoEasing::ServoEasingNextPositionArray

static

Used exclusively for *ForAllServos() functions.

Is updated by write() or startEaseToD() function, to keep it synchronized. Can contain degree values or microseconds but not units. Use float since we want to support higher precision for degrees.

Definition at line 664 of file ServoEasing.h.

◆ sInterruptsAreActive

volatile bool ServoEasing::sInterruptsAreActive = false

static

It is required for ESP32, where the timer interrupt routine does not block the loop.

Maybe it runs on another CPU? The interrupt routine first sets the mServoMoves flag to false and then disables the timer. But on a ESP32 polling the flag and then starting next movement and enabling timer happens BEFORE the timer is disabled. And this crashes the kernel in esp_timer_delete, which will lead to a reboot. true if interrupts are still active, i.e. at least one Servo is moving with interrupts.

Definition at line 655 of file ServoEasing.h.

◆ sServoArrayMaxIndex

uint_fast8_t ServoEasing::sServoArrayMaxIndex = 0

static

Two arrays of all servos to enable synchronized movings Servos are inserted in the order, in which they are attached I use an fixed array and not a list, since accessing an array is much easier and faster.

list to hold all ServoEasing Objects in order to move them together Cannot use "static servo_t servos[MAX_SERVOS];" from Servo library since it is static :-(

Using an dynamic array may be possible, but in this case we must first malloc(), then memcpy() and then free(), which leads to heap fragmentation. maximum index of an attached servo in sServoArray[]

Definition at line 662 of file ServoEasing.h.

◆ TargetPositionReachedHandler

void(* ServoEasing::TargetPositionReachedHandler) (ServoEasing *)

Is called any time when target servo position is reached.

Definition at line 647 of file ServoEasing.h.

◆ UserDataPointer

void* ServoEasing::UserDataPointer

Definition at line 600 of file ServoEasing.h.

The documentation for this class was generated from the following files:

src/ServoEasing.h
src/ServoEasing.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ServoEasing()

Member Function Documentation

◆ _setTrimMicrosecondsOrUnits()

◆ _writeMicrosecondsOrUnits()

◆ areInterruptsActive()

◆ attach() [1/6]

◆ attach() [2/6]

◆ attach() [3/6]

◆ attach() [4/6]

◆ attach() [5/6]

◆ attach() [6/6]

◆ attachWithTrim() [1/3]

◆ attachWithTrim() [2/3]

◆ attachWithTrim() [3/3]

◆ BackEaseIn()

◆ callEasingFunction()

◆ CircularEaseIn()

◆ CubicEaseIn()

◆ DegreeOrMicrosecondToMicrosecondsOrUnits() [1/2]

◆ DegreeOrMicrosecondToMicrosecondsOrUnits() [2/2]

◆ DegreeToMicrosecondsOrUnitsWithTrimAndReverse()

◆ detach()

◆ EaseOutBounce()

◆ easeTo() [1/4]

◆ easeTo() [2/4]

◆ easeTo() [3/4]

◆ easeTo() [4/4]

◆ easeToD() [1/2]

◆ easeToD() [2/2]

◆ ElasticEaseIn()

◆ getCurrentAngle()

◆ getCurrentMicroseconds()

◆ getDeltaMicrosecondsOrUnits()

◆ getEasingType()

◆ getEndMicrosecondsOrUnits()

◆ getEndMicrosecondsOrUnitsWithTrim()

◆ getMillisForCompleteMove()

◆ getSpeed()

◆ InitializeAndCheckI2CConnection()

◆ isMoving()

◆ isMovingAndCallYield()

◆ LinearWithQuadraticBounce()

◆ MicrosecondsOrUnitsToDegree()

◆ MicrosecondsOrUnitsToMicroseconds()

◆ MicrosecondsToDegree()

◆ noMovement()

◆ pause()

◆ print()

◆ printDynamic()

◆ printEasingType()

◆ printStatic()

◆ QuadraticEaseIn()

◆ QuarticEaseIn()

◆ registerUserEaseInFunction()

◆ resumeWithInterrupts()

◆ resumeWithoutInterrupts()

◆ setEaseTo() [1/4]

◆ setEaseTo() [2/4]

◆ setEaseTo() [3/4]

◆ setEaseTo() [4/4]

◆ setEaseToD() [1/2]

◆ setEaseToD() [2/2]

◆ setEasingType()

◆ setMaxConstraint()

◆ setMinConstraint()

◆ setMinMaxConstraint()

◆ setReverseOperation()

◆ setSpeed()

◆ setTargetPositionReachedHandler()

◆ setTrim()

◆ setUserDataPointer()

◆ SineEaseIn()

◆ startEaseTo() [1/4]

◆ startEaseTo() [2/4]