Hola a todos.
Soy un novato en Arduino, estoy aprendiendo a través de un proyecto de control de una cámara con dos servos para hacer la función pan-tilt, zoom y enfoque a través de una web alojada en el propio Arduino. La idea es conectar el arduino a un router wifi y controlarlo todo dentro de una red local.
Estuve atascado porque la encriptación del router creaba interferencias en el control de los servos (desconozco porqué). Leyendo y probando (y copy-pasteando código 
) he conseguido que me funcione todo. Pero no perfectamente. En algún momento los servos se "confunden" y no hacen lo que deberían.
El codigo es este:
/*
Web Server
Proyecto de controlador web para camara
*/
#include <SPI.h>
#include <Ethernet.h>
#include <Servo.h> // Incluimos la libreria servo
//mac, IP
byte mac[] = { 0x00, 0x02, 0x0A, 0x0D, 0x06, 0x01 };
byte ip[] = { 192, 168, 1, 177 }; //IPAddress ip(192,168,1,177);
byte gateway[] = { 192, 168, 1, 1 }; // ip router
byte subnet[] = { 255, 255, 255, 0 }; // mascara subnet
EthernetServer server(80); // puerto ethernet
//pines out Trans
int zoom1 = 7;
int zoom2 = 8;
int foco1 = 2;
int foco2 = 3;
Servo servohor; // creando el objeto servo para control
Servo servover; // otro
int servoPinh = 6; // control pin for servo motor
int minPulseh = 600; // minimum servo position
int maxPulseh = 2400; // maximum servo position
int turnRateh = 40; // servo turn rate increment (larger value, faster rate)
int refreshTimeh = 100; // time (ms) between pulses (50Hz)
int centerServoh; // center servo position
int pulseWidthh; // servo pulse width
int moveServoh; // raw user input
long lastPulseh = 0; // recorded time (ms) of the last pulse
int servoPinv = 5; // control pin for servo motor
int minPulsev = 1400; // minimum servo position
int maxPulsev = 2000; // maximum servo position
int turnRatev = 40; // servo turn rate increment (larger value, faster rate)
int refreshTimev = 100; // time (ms) between pulses (50Hz)
int centerServov; // center servo position
int pulseWidthv; // servo pulse width
int moveServov; // raw user input
long lastPulsev = 0; // recorded time (ms) of the last pulse
boolean reading = false;
String readString;
void setup()
{
Serial.begin(9600);
//iniciar conexion
Ethernet.begin(mac, ip, gateway, gateway, subnet);
server.begin();
pinMode(2, OUTPUT); //pin selected to control
pinMode(3, OUTPUT); //pin selected to control
pinMode(7, OUTPUT); //pin selected to control
pinMode(8, OUTPUT); //pin selected to control
pinMode(5, OUTPUT); // Set servo pin as an output pin
centerServoh = maxPulseh - ((maxPulseh - minPulseh)/2);
pulseWidthh = centerServoh; // Give the servo a starting point (or it floats)
pinMode(6, OUTPUT); // Set servo pin as an output pin
centerServov = maxPulsev - ((maxPulsev - minPulsev)/2);
pulseWidthv = centerServov; // Give the servo a starting point (or it floats)
}
void loop()
{
EthernetClient client = server.available();
if (client)
{
while (client.connected())
{
if (client.available())
{
char c = client.read();
if(readString.length() < 100)
{
readString += c;
Serial.print(c);
}
if (c == '\n')
{
//HTML creacion de formulario
Serial.println(readString);
client.println("HTTP/1.1 200 OK");
client.println("Content-Type: text/html");
client.println();
client.println("<HTML>");
client.println("<HEAD>");
client.println("<TITLE>Control Camara posicion zoom y foco</TITLE>");
client.println("</HEAD>");
client.println("<BODY>");
client.println("<H1>Arduino, Control Camara posicion zoom y foco</H1>");
//Servohor
client.println("<a href=\"/?right\"\">DERECHA</a>");
client.println("<a href=\"/?center\"\">CENTRO</a>");
client.println("<a href=\"/?left\"\">IZQUIERDA</a>");
//servover
client.println("<a href=\"/?up\"\">ARRIBA</a>");
client.println("<a href=\"/?mid\"\">CENTRO</a>");
client.println("<a href=\"/?down\"\">ABAJO</a>");
// zoom y foco
client.println("<a href=\"/?zoom1\"\">ZOOM+</a>");
client.println("<a href=\"/?zoom2\"\">ZOOM-</a>");
client.println("<a href=\"/?foco1\"\">FOCO+</a>");
client.println("<a href=\"/?foco2\"\">FOCO-</a>");
client.println("</BODY>");
client.println("</HTML>");
delay(100);
//stopping client
client.stop();
///////////////////// control arduino pin
if(readString.indexOf("up") >0) { pulseWidthv = pulseWidthv - turnRatev; }
if(readString.indexOf("mid") >0) { pulseWidthv = centerServov; }
if(readString.indexOf("down") >0) { pulseWidthv = pulseWidthv + turnRatev; }
if (pulseWidthv > maxPulsev) { pulseWidthv = maxPulsev; }
if (pulseWidthv < minPulsev) { pulseWidthv = minPulsev; }
if (millis() - lastPulsev >= refreshTimev)
{
digitalWrite(5, HIGH); // start the pulse
delayMicroseconds(pulseWidthv); // pulse width
digitalWrite(5, LOW); // stop the pulse
lastPulsev = millis();
} // save the time of the last pulse
if(readString.indexOf("right") >0) { pulseWidthh = pulseWidthh - turnRateh; }
if(readString.indexOf("center") >0) { pulseWidthh = centerServoh; }
if(readString.indexOf("left") >0) { pulseWidthh = pulseWidthh + turnRateh; }
if (pulseWidthh > maxPulseh) { pulseWidthh = maxPulseh; }
if (pulseWidthh < minPulseh) { pulseWidthh = minPulseh; }
if (millis() - lastPulseh >= refreshTimeh)
{
digitalWrite(6, HIGH); // start the pulse
delayMicroseconds(pulseWidthh); // pulse width
digitalWrite(6, LOW); // stop the pulse
lastPulseh = millis();
} // save the time of the last pulse
if(readString.indexOf("zoom1") >0)
{
digitalWrite(7, HIGH);
delay (300);
digitalWrite (7, LOW);
Serial.println("Zoom+");
}
if(readString.indexOf("zoom2") >0)
{
digitalWrite(8, HIGH);
delay (300);
digitalWrite (8, LOW);
Serial.println("Zoom-");
}
if(readString.indexOf("foco1") >0)
{
digitalWrite(2, HIGH);
delay (300);
digitalWrite (2, LOW);
Serial.println("Foco+");
}
if(readString.indexOf("foco2") >0)
{
digitalWrite(3, HIGH);
delay (300);
digitalWrite (3, LOW);
Serial.println("Foco-");
}
//clearing string for next read
readString="";
//break;
}
}
}
}
}
.
¿Alguna idea para limpiar o mejorar el código?
Gracias y un saludo.