Robin2:
It would be a great help if you can post a link to the website where you got the servo library that works for you.
...R
For some reason, I can't find the website from which I downloaded the Servo2.zip file. I was really googling up a storm yesterday and have about 200 links in my browsing history, but can't seem to figure out the right one now.
I googled today for Servo2, and found numerous sites BUT when I checked the contents of the .h and .cpp files, they were slightly different or sometimes very different from the files I used yesterday.
This one is very close but it doesn't even include the wiring.h line that I had to comment out. Not sure if that is good news or bad news.
Anyhooo, long story short, here are the two exact files I used including the change I made on the wiring.h line (with my comments on the side):
Servo2.cpp
#include <avr/interrupt.h>
//#include <wiring.h>
#include <wiring_private.h> //Zimbu added this line and commented out wiring.h based on internet advice to prevent error when compiling
#include <Servo2.h>
/*
Servo2.cpp - 2 Servo hardware timer Library
Author: Jim Studt, jim@federated.com
Modified for Mega Pins by Michael Margolis
Copyright (c) 2007 David A. Mellis. All right reserved.
This is the Servo library distributed with Arduino 0016 and earlier.
It can drive up to two servos using pins 9 and 10 on a standard board
or 11 and 12 on a Mega. Other pins wont work.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(__AVR_ATmega1280__)
// Mega uses pins 11 and 12 for timer 1
const uint8_t servoAPin = 11;
const uint8_t servoBPin = 12;
#else
// Pins 9 and 10 for Standard Arduino (ATmega168/328
const uint8_t servoAPin = 9;
const uint8_t servoBPin = 10;
#endif
uint8_t Servo::attachedA = 0;
uint8_t Servo::attachedB = 0;
void Servo::seizeTimer1()
{
uint8_t oldSREG = SREG;
cli();
TCCR1A = _BV(WGM11); /* Fast PWM, ICR1 is top */
TCCR1B = _BV(WGM13) | _BV(WGM12) /* Fast PWM, ICR1 is top */
| _BV(CS11) /* div 8 clock prescaler */
;
OCR1A = 3000;
OCR1B = 3000;
ICR1 = clockCyclesPerMicrosecond()*(20000L/8); // 20000 uS is a bit fast for the refresh, 20ms, but
// it keeps us from overflowing ICR1 at 20MHz clocks
// That "/8" at the end is the prescaler.
#if defined(__AVR_ATmega8__)
TIMSK &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
#else
TIMSK1 &= ~(_BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
#endif
SREG = oldSREG; // undo cli()
}
void Servo::releaseTimer1() {}
#define NO_ANGLE (0xff)
Servo::Servo() : pin(0), angle(NO_ANGLE) {}
uint8_t Servo::attach(int pinArg)
{
return attach(pinArg, 544, 2400);
}
uint8_t Servo::attach(int pinArg, int min, int max)
{
if (pinArg != servoAPin && pinArg != servoBPin) return 0;
min16 = min / 16;
max16 = max / 16;
pin = pinArg;
angle = NO_ANGLE;
digitalWrite(pin, LOW);
pinMode(pin, OUTPUT);
if (!attachedA && !attachedB) seizeTimer1();
if (pin == servoAPin) {
attachedA = 1;
TCCR1A = (TCCR1A & ~_BV(COM1A0)) | _BV(COM1A1);
}
if (pin == servoBPin) {
attachedB = 1;
TCCR1A = (TCCR1A & ~_BV(COM1B0)) | _BV(COM1B1);
}
return 1;
}
void Servo::detach()
{
// muck with timer flags
if (pin == servoAPin) {
attachedA = 0;
TCCR1A = TCCR1A & ~_BV(COM1A0) & ~_BV(COM1A1);
pinMode(pin, INPUT);
}
if (pin == servoBPin) {
attachedB = 0;
TCCR1A = TCCR1A & ~_BV(COM1B0) & ~_BV(COM1B1);
pinMode(pin, INPUT);
}
if (!attachedA && !attachedB) releaseTimer1();
}
void Servo::write(int angleArg)
{
uint16_t p;
if (angleArg < 0) angleArg = 0;
if (angleArg > 180) angleArg = 180;
angle = angleArg;
// bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true
// That 8L on the end is the TCNT1 prescaler, it will need to change if the clock's prescaler changes,
// but then there will likely be an overflow problem, so it will have to be handled by a human.
p = (min16*16L*clockCyclesPerMicrosecond() + (max16-min16)*(16L*clockCyclesPerMicrosecond())*angle/180L)/8L;
if (pin == servoAPin) OCR1A = p;
if (pin == servoBPin) OCR1B = p;
}
uint8_t Servo::read()
{
return angle;
}
uint8_t Servo::attached()
{
if (pin == servoAPin && attachedA) return 1;
if (pin == servoBPin && attachedB) return 1;
return 0;
}
Servo2.h
#ifndef Servo_h
#define Servo_h
/*
Servo2.h - 2 Servo hardware timer Library
Author: Jim Studt, jim@federated.com
Modified for Mega Pins by Michael Margolis
Copyright (c) 2007 David A. Mellis. All right reserved.
This is the Servo library distributed with Arduino 0016 and earlier.
It can drive up to two servos using pins 9 and 10 on a standard board
or 11 and 12 on a Mega. Other pins wont work.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <inttypes.h>
class Servo
{
private:
uint8_t pin;
uint8_t angle; // in degrees
uint8_t min16; // minimum pulse, 16uS units (default is 34)
uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150)
static void seizeTimer1();
static void releaseTimer1();
static uint8_t attachedA;
static uint8_t attachedB;
public:
Servo();
uint8_t attach(int);
// pulse length for 0 degrees in microseconds, 544uS default
// pulse length for 180 degrees in microseconds, 2400uS default
uint8_t attach(int, int, int);
// attach to a pin, sets pinMode, returns 0 on failure, won't
// position the servo until a subsequent write() happens
// Only works for 9 and 10.
void detach();
void write(int); // specify the angle in degrees, 0 to 180
uint8_t read();
uint8_t attached();
};
#endif
