MTservo
Event management for Uno, Nano, Mega

This object offers the management of classic servo (3 wires) with a 16-bit timer.

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
degree_initially
micro_seconds_minimum
micro_seconds_maximum
micro_seconds_per_period

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

Constructor

MTservo(pin,
        timeFrom0To180Millisecond = 1000 ms,
        onStopFunction = NO_ACTION,
        initialInpulse = 1500 µs,
        minInpulseMicroseconds = 500 µs,
        maxInpulseMicroseconds = 2500 µs,
        periodMicroseconds = 20000 µs);

Useful functions

void writeDegree(word value);
void writeMicrosecond(word value);
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