Setting speed of servomotor controlled by joystick

Projects General Guidance
1

Hello! I am new to this forum, sorry if I posted this thread in the wrong category.

I designed the mechanism for a wing elevator which I intend to actuate using a DS3240 servomotor, controlled by joystick through Arduino Nano. I was wondering if there is any method of setting the speed of the servo motor, without it varying with different loads.

I know about the "delay" trick, but it won't work as the reading of the joystick is a loop itself and the loads on the servomotor will varry. This is the code I have:

#include <Servo.h>

const int servoPin = 9;
const int joystickPin = A0;
const int numSamples = 5; 
const int deadzone = 10; 

Servo servoMotor;

void setup() {
  servoMotor.attach(servoPin);
  servoMotor.write(90);
  Serial.begin(9600);
}

void loop() {
  int joystickSamples[numSamples]; 
  
  for (int i = 0; i < numSamples; i++) {
    joystickSamples[i] = analogRead(joystickPin);
    delay(5); 
  }
  
  int joystickFilteredValue = 0;
  for (int i = 0; i < numSamples; i++) {
    joystickFilteredValue += joystickSamples[i];
  }
  joystickFilteredValue /= numSamples;
  

  int servoAngle = map(joystickFilteredValue, 0, 1023, 0, 180);
  

  if (joystickFilteredValue > (512 - deadzone) && joystickFilteredValue < (512 + deadzone)) {
   
    servoMotor.write(90); 
  } else if (joystickFilteredValue >= 512 + deadzone && joystickFilteredValue <= 1023) {
    
    servoAngle = map(joystickFilteredValue, 512 + deadzone, 1023, 90, 110);
    servoMotor.write(servoAngle);
  } else if (joystickFilteredValue <= 512 - deadzone && joystickFilteredValue >= 0) {
 
    servoAngle = map(joystickFilteredValue, 0, 512 - deadzone, 80, 90);
    servoMotor.write(servoAngle)
    ;
  }
  

  Serial.print("Angle: ");
  Serial.print(servoAngle);
  Serial.print("Joystick: ");
  Serial.println(joystickFilteredValue);
  
  delay(15); 
}
2

Why not simply sum the readings as you make them?
You don't need to save them, unless you're doing something like filtering.

3

Yeah, I tried to do a sampling filter as the servomotor had some "noisy" moves.

4

You change the setting in small steps, with the time between the steps equivalent to the servo speed. See the BlinkWithoutDelay example.

6

You can bump it from position to position with a variable delay between each bump, but the actual speed that the servo moves from position to position probably won't change.

8

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