Combing code

Projects Programming
1

I have two simple tasks I am using an arduino Yun to do. The first is light an RGB led, and the second is turn a servo motor.

I have the code working for both functions, but I am having trouble making them work together on the same arduino.

I read that using when the delay function is being used the arduino can not do two tasks, so i re did the servo code using millis.

This is the RGD LED code:

const int greenLEDPin = 11;
const int redLEDPin = 10;
const int blueLEDPin = 8;

int fadeAmount = 1;

int redValue = 20;
int greenValue = 20;
int blueValue = 20;



void setup() {
  // put your setup code here, to run once:

  pinMode(greenLEDPin, OUTPUT);
  pinMode(redLEDPin, OUTPUT);
  pinMode(blueLEDPin, OUTPUT);

}

void loop() {
  // put your main code here, to run repeatedly:

  analogWrite(redLEDPin, redValue);
  analogWrite(blueLEDPin, blueValue);
  analogWrite(greenLEDPin, greenValue);


  Serial.begin(9600);

  Serial.print(redValue );
  Serial.print(greenValue );
  Serial.print(blueValue );
  Serial.println("");

  //redValue = redValue + 1;
  //blueValue = blueValue + 1;
  //greenValue = greenValue + 1;

  redValue = redValue + fadeAmount;

  // reverse the direction of the fading at the ends of the fade:
  if (redValue == 0 || redValue == 255) {
    fadeAmount = -fadeAmount ;

  }
  blueValue = blueValue + fadeAmount;

  // reverse the direction of the fading at the ends of the fade:
  if (blueValue == 0 || blueValue == 255) {
    fadeAmount = -fadeAmount ;
  }
  greenValue = greenValue + fadeAmount;

  // reverse the direction of the fading at the ends of the fade:
  if (greenValue == 0 || greenValue == 255) {
    fadeAmount = -fadeAmount ;

  }

}

This is the servo code:

#include <Servo.h> 
 
Servo myservo;  // create servo object to control a servo, max = 8 servos
int myservo_pin = 9; // pin that controls the servo
int myservo_speed = 1; // how fast the servo moves, 1 = very fast, 10 = very slow
long myservo_movetime = 10; // next time in millis servo next moves
int myservo_gPos = 0; // target position to move towards
int myservo_cPos = 0; // current postion of servo
 
int pos = 0;    // variable to store the servo position
int cPos;       // current position
int gPos;       // goal position
int tDelay = 200; // delay between moves, gives appearance of smooth motion


void setup() { 
  Serial.begin(9600);
  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
  
  Serial.println("setup complete : smooth servo movment without delay v1");


    
} 
 
void loop() { 
  cPos = myservo.read();
  if (cPos == 0) gPos = 180;
  if (cPos == 180) gPos = 0;
  if (cPos != gPos && millis() >= myservo_movetime) {
    moveServo();
  }
  if (Serial.available() > 0) { GetCommand(); }
} 

void moveServo() {
  if (cPos < gPos) myservo.write(cPos+1);
  if (cPos > gPos) myservo.write(cPos-1);
  //if (cPos == gPos) // nothing
  myservo_movetime = millis() + tDelay;

  myservo_speed = millis();
}

void GetCommand() {
  int command = Serial.read() - '0';
  int mVal = command;
  if (mVal == 'x') {
    tDelay = tDelay * 10;
  } else {
    tDelay = mVal;
  }



  
  Serial.print("Pauses changed to : "); Serial.print(tDelay); Serial.println(" mSeconds");
  Serial.flush();










  
}

How can I combine this code to make it work together from one arduino?

Thank you!

2

Does the use of the Servo library on the Yun cause problems with analogWrite() on some pins as it does with other boards ?

3 
if (cPos != gPos && millis() >= myservo_movetime) {
  moveServo();
}

...

myservo_movetime = millis() + tDelay;

This will be a problem when millis() rolls back to 0, once every 50 days. Using substraction, like in the Blink Without Delay example, is guaranteed to always give the expected result.

if (cPos != gPos && millis() - myservo_movetime >= tDelay) {
  moveServo();
}

...

myservo_movetime = millis();