I have a sketch that uses servos and i need to get the servos to move slower and i cant figure out how. Where should or can i post the code for assistance in here, thanks in advance, Bob
Switched_6_Servos.ino (1.48 KB)
Read the first topic, "Guidelines.. how use Forum". #7 tells You how to attach code using so called "code tags", looking like </> to left in the reply window.
Tell what You want Your code to do and then what is actaullt happening. Attach wiring diagrams is sometimes needed….
If you were currently using Servo.h then you could just change to VarSpeedServo.h which has a speed parameter to the write() command.
Unfortunately I don't know anything about the antique SoftwareServo.h and the commands look somewhat different so I'm not sure how difficult a change to VarSpeedServo would be.
Steve
You can try doing the timing yourself if you stick with software servos. I modified your code and used Adafruit's software servo library. This compiles but may need additional debug etc...
// MRH 6 Switched 6 Servos with Pushbuttons & LED Indicators
// G. Bunza 2016
//
//#include <SoftwareServo.h>
#include <Adafruit_SoftServo.h>
#define K_NUMPINS 6 // Number of Servos
#define K_STEPINTERVAL 5550ul // num uS/step; 135 steps takes ~750mS
//
const byte pins[]= { 14, 15, 16, 17, 18, 19 }; // Pushbutton/LED pins
const byte spins[]= { 2, 3, 4, 5, 6, 7 }; // Servo pins
const byte sstart[]= { 25, 57, 25, 25, 25, 25 }; // Servo Start Positions
const byte sstop[]= { 160, 100, 160, 160, 160, 160 }; // Servo Stop Positions
byte lastSw[K_NUMPINS] = {true};
typedef struct structSSControl
{
Adafruit_SoftServo objServo;
unsigned long stepInterval;
unsigned long timerServo;
byte currPos;
byte tgtPos;
bool bMoving;
bool bDir;
}sSSControl;
sSSControl servos[K_NUMPINS];
boolean pinval[]= { true, true, true, true, true, true }; // Servo State
//
void setup()
{
InitServos();
for( int i=0; i<K_NUMPINS; i++ )
{
pinMode( pins[i], OUTPUT ); // Initialize PB/LED pins
digitalWrite( pins[i], HIGH );
}//for
}//setup
void loop()
{
byte
swNow;
static byte
index = 0;
//needed for slower-motion
ServosSpin();
pinMode( pins[index], INPUT_PULLUP );
swNow = digitalRead( pins[index] );
if( swNow != lastSw[index] )
{
lastSw[index] = swNow;
if( swNow == LOW )
{
//uf pin differs from last read, toggle pinval
pinval[index] = !pinval[index];
//based on pin val, set the target position to start or stop
servos[index].tgtPos = ( pinval[index] == true ) ? sstart[index]:sstop[index];
}//if
}//if
pinMode( pins[index],OUTPUT );
digitalWrite( pins[index], pinval[index] );
index++;
if( index == K_NUMPINS )
index = 0;
}//loop
void InitServos( void )
{
for( int idx=0; idx<K_NUMPINS; idx++ )
{
servos[idx].objServo.attach( spins[idx] ); //assign pin to servo object
servos[idx].objServo.write( sstart[idx] ); //move servo to start position
servos[idx].stepInterval = K_STEPINTERVAL; //set up step-delay time
servos[idx].timerServo = 0; //time keeping for this servo
servos[idx].currPos = sstart[idx]; //set current and target positions (same at init)
servos[idx].tgtPos = sstart[idx];
servos[idx].bMoving = false; //not moving now
servos[idx].bDir = true; //default "positive" step direction
}//for
}//InitServos
void ServosSpin( void )
{
unsigned long
timeNow;
static byte
idx = 0;
//timing using microseconds
timeNow = micros();
//time for a step/check?
if( timeNow - servos[idx].timerServo >= servos[idx].stepInterval )
{
servos[idx].timerServo = timeNow;
//if moving now...
if( servos[idx].bMoving == true )
{
//move another step in the direction we're stepping
if( servos[idx].bDir == true )
servos[idx].currPos++;
else
servos[idx].currPos--;
//and set the new step position
servos[idx].objServo.write( servos[idx].currPos );
//have we reached the target position?
if( servos[idx].currPos == servos[idx].tgtPos )
servos[idx].bMoving = false; //yes, clear the move flag to stop
}//if
}//if
else
{
//not moving now; should we start?
if( servos[idx].currPos != servos[idx].tgtPos )
{
//yes; set the direction
servos[idx].bDir = (servos[idx].currPos > servos[idx].tgtPos) ? false:true;
servos[idx].bMoving = true; //and set the moving flag
}//if
}//else
//refresh servo each pass
servos[idx].objServo.refresh();
idx++;
if( idx == K_NUMPINS )
idx = 0;
}//ServosSpin
You can start with the servo "sweep" example in the IDE.
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