SAMD_ISR_Servo Library

SAMD_ISR_Servo library GitHub release
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Why do we need this SAMD_ISR_Servo library

Features

This library enables you to use 1 Hardware Timer on a SAMD21/SAMD51-based board to control up to 16 independent servo motors.


Currently supported Boards

  • Arduino SAMD21 (ZERO, MKR, NANO_33_IOT, etc.).
  • Adafruit SAM21 (Itsy-Bitsy M0, Metro M0, Feather M0, Gemma M0, etc.).
  • Adafruit SAM51 (Itsy-Bitsy M4, Metro M4, Grand Central M4, Feather M4 Express, etc.).
  • Seeeduino SAMD21/SAMD51 boards (SEEED_WIO_TERMINAL, SEEED_FEMTO_M0, SEEED_XIAO_M0, Wio_Lite_MG126, WIO_GPS_BOARD, SEEEDUINO_ZERO, SEEEDUINO_LORAWAN, SEEED_GROVE_UI_WIRELESS, etc.)
  • Sparkfun SAMD21 boards such as SparkFun_RedBoard_Turbo, SparkFun_Qwiic_Micro, etc.
  • Sparkfun SAMD51 boards such as SparkFun_SAMD51_Thing_Plus, SparkFun_SAMD51_MicroMod, etc.


Changelog

Releases v1.0.0

  1. Basic 16 ISR-based servo controllers using 1 hardware timer for SAMD-based board
  2. Support to both SAMD21 and SAMD51

Examples:

  1. SAMD_MultipleRandomServos
  2. SAMD_MultipleServos

Example SAMD_MultipleRandomServos on Adafruit SAMD51 ITSYBITSY_M4

The following is the sample terminal output when running example SAMD_MultipleRandomServos on Adafruit SAMD51 ITSYBITSY_M4 to demonstrate how to control multiple Servos.

Starting SAMD_MultipleRandomServos on ITSYBITSY_M4
SAMD_ISR_Servo v1.0.0
Setup OK, Servo index = 0
Setup OK, Servo index = 1
Setup OK, Servo index = 2
Setup OK, Servo index = 3
Setup OK, Servo index = 4
Setup OK, Servo index = 5
[ISR_SERVO] _period = 10 , frequency = 100000.00
[ISR_SERVO] SAMDFastTimerInterrupt: F_CPU (MHz) = 120 , TIMER_HZ = 48
[ISR_SERVO] TC_Timer::startTimer _Timer = 0x 4101C000
[ISR_SERVO] TC_Timer::startTimer TC3 = 0x 4101C000
[ISR_SERVO] SAMD51 TC3 period = 10 , _prescaler = 1
[ISR_SERVO] _compareValue = 479
[ISR_SERVO] Starting  ITimer OK
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos @ 180 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 245 , pos = 180
180, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 245 , pos = 180
2450
Servos sweeps from 0-180 degress