Servo's speed

Projects Discussion and Showcase Robotics
10

I just wrote this after cobbling together several different sketches I found on the web and it seems to work fairly well:

// 4 button 2 servo controller w pot slew v 3.d
#include <Servo.h>

  Servo servo1;          // define servo aliases
  Servo servo2;
  #define leftPin 2        // define buttons attached to pins
  #define rightPin 3
  #define upPin 4
  #define downPin 5
  int pos1 = 90;          // set angle when inialitized
  int pos2 = 135;
  
     #define POT 3        // pot to analog pin 3
     int potValue = 0;    // variable for pot value
                          
void setup()
{
  servo1.write(pos1);  // Put servo1 at home position 
  servo2.write(pos2);  // Put servo1 at home position 
    
  servo1.attach(10);    // attaches the servo on pin 9 to the servo object
  servo2.attach(9);     // attaches the servo on pin 10 to the servo object

  pinMode(leftPin, INPUT);   
  pinMode(rightPin, INPUT);  
  pinMode(upPin, INPUT);     
  pinMode(downPin, INPUT); 
}

void loop()
{
//pot control  
  {
      potValue = analogRead(potValue);                // reads the value of the potentiometer 
                                                      // (value between 0 and 1023)
      potValue = potValue/4;                          // convert from 0-1023 to 0-255
       
  }
// left/right servo control
  if(digitalRead(leftPin) == HIGH)        // left button instructions  
  {
   // in steps of 1 degree
   if( pos1 > 0)
	--pos1;
    servo1.write(pos1);		  // tell servo to go to position in variable 'pos1'
    delay(potValue);			    
  }
  if(digitalRead(rightPin) == HIGH)       // right button instructions  
  {
   if( pos1 < 180)
	 ++pos1;
    servo1.write(pos1);		  // tell servo to go to position in variable 'pos1'
    delay(potValue);	 
   }

// up/down servo control  
 
   if(digitalRead(upPin) == HIGH)         // up button instructions  
   {
   // in steps of 1 degree
   if( pos2 > 0)
	--pos2;
    servo2.write(pos2);		  // tell servo to go to position in variable 'pos2'
    delay(potValue);			    
   }
   if(digitalRead(downPin) == HIGH)        // down button instructions  
   {
   if( pos2 < 180)
	 ++pos2;
   servo2.write(pos2);		  // tell servo to go to position in variable 'pos2'
   delay(potValue); 
   } 
}

At first it was written so a numerical parameter was inserted in the int potValue = 0; section but my need requires me to adjust the speed on-the-fly.

I can send you the numerical sketch is you wish.

This sketch controls two servos but it can be pared down if needed.

Good luck.

Peace.