Include to add

#include <MTobjects.h> // See http://arduino.dansetrad.fr/en/MTobjects

I strongly advise to leave the comment, if another person wanted to try the program, they would have a download link directly. This is valid for all the libraries you use.

Useful comment

micro_seconds
milli_seconds
milli_seconds_for_go_from_0_to_180
micro_seconds_initially
micro_seconds_minimum
micro_seconds_maximum
micro_seconds_per_period
cad_for_0_degree
cad_for_180_degree

These comments are words that can be added anywhere and which are ignored by the compiler.

Constructor

MTsevo4fils(pin, pinPot, cadFor0degree,  cadFor180degree,
            timeFrom0To180Millisecond = 1000 ms,
            onStopFunction = NO_ACTION,
            minInpulseMicroseconds = 500 µs,
            maxInpulseMicroseconds = 2500 µs,
            periodMicroseconds = 20000 µs);

• pin (uint8_t): Arduino pin Uno/Nano: 9, 10 Mega: 2, 3, 5, 6, 7, 8, 11, 12, 13, 44, 45, 46
• pinPot (uint8_t): analog pin of the middle point of the potentiometer
• cadFor0degree (word): value of analogRead(pinPot) for 0°
• cadFor180degree (word): value of analogRead(pinPot) for 180°
• timeFrom0To180Millisecond (word): time to go from 0° to 180°
• onStopFunction: what happens when the servo arrives in position and initialization
  • NO_ACTION → nothing happens
  • myFunction → call a function "void myFunction(void) {...}"
• minInpulseMicroseconds (word): minimum duration of the inpulse
• maxInpulseMicroseconds (word): maximum duration of the inpulse
• periodMicroseconds (word): fix the period, maximum 32000µs

Useful functions

void writeDegree(word valeur);
void writeMicrosecond(word valeur);
void detach(void);
void attach(void);
void onStop(void);

writeDegree: go to the position requested in degree (or µs)
writeMicrosecond: go to the position requested in µs (or degree)
detach: disconnects the pin, it becomes "normal" as a starter (does not erase the scheduled times)
attach: reconnect the pin, if it was detached
onStop: function to be overloaded called when you have just finished the movement (and initialization)

Bonus functions

void setTimeFrom0To180(word timeFrom0To180Millisecond);
word getTimeFrom0To180(void);
void setMinInpulseMicroseconds(word minInpulseMicroseconds);
word getMinInpulseMicroseconds(void);
void setMaxInpulseMicroseconds(word maxInpulseMicroseconds);
word getMaxInpulseMicroseconds(void);
void setPeriod(word periodMicroseconds);
word getPeriod(void);
boolean getRun(void);

setTimeFrom0To180: fixes the speed of movement
setTimeFrom0To180: without parameters, fixes the speed of movement at 1s for a displacement of 180 °
getTimeFrom0To180: get the movement speed in ms
setMinInpulseMicroseconds: fix the minimum duration of the inpulse
setMinInpulseMicroseconds: without parameters, fix the minimum duration of the inpulse at 500µs
getMinInpulseMicroseconds: get the minimum duration of the inpulse in µs
setMaxInpulseMicroseconds: fix the maximum duration of the inpulse
setMaxInpulseMicroseconds: without parameters, fix the maximum duration of the inpulse at 2500µs
getMaxInpulseMicroseconds: get the minimum duration of the inpulse in µs
setPeriod: fix the period of the inpulses
setPeriod: without parameters, fix the period of the inpulses at 20ms
getPeriod: get the period of the inpulses
getRun: true if he moves, false if he is stops

Examples

• Parameter measurement
• Example 1: Wiper