Version 2.3.3 - Added compile option `ENABLE_MICROS_AS_DEGREE_PARAMET…

…ER` to allow usage of microseconds instead of degree as function arguments for all functions using degrees as argument.
ArminJo · Nov 30, 2020 · c7098d4 · c7098d4
1 parent 9a63d04
commit c7098d4
Show file tree

Hide file tree

Showing 12 changed files with 76 additions and 35 deletions.
diff --git a/README.md b/README.md
@@ -28,6 +28,7 @@ For instructions how to enable these alternatives see [Compile options / macros]
 - **Reverse operation** of servo is possible eg. if it is mounted head down.
 - Allow to specify an arbitrary mapping between degrees and microseconds by `attach(int aPin, int aMicrosecondsForServoLowDegree, int aMicrosecondsForServoHighDegree, int aServoLowDegree, int aServoHighDegree)`.
 - **Servo speed** can be specified in **degree per second** or **milliseconds** for the complete move.
+- All degree values >= 400 are taken as microsecond values for the servo pulse.
 
 ## [API](https://github.com/ArminJo/ServoEasing/blob/master/src/ServoEasing.h#L328)
 
@@ -80,9 +81,11 @@ Modify it by commenting them out or in, or change the values if applicable. Or d
 | `USE_SERVO_LIB` | disabled | ServoEasing.h | Use of PCA9685 normally disables use of regular servo library. You can force using of regular servo library by defining `USE_SERVO_LIB`. See below. |
 | `PROVIDE_ONLY_LINEAR_MOVEMENT` | disabled | ServoEasing.h | Saves up to 1540 bytes FLASH. |
 | `DISABLE_COMPLEX_FUNCTIONS` | disabled | ServoEasing.h | Disables the SINE, CIRCULAR, BACK, ELASTIC and BOUNCE easings. Saves up to 1850 bytes FLASH. |
+| `ENABLE_MICROS_AS_DEGREE_PARAMETER` | disabled | ServoEasing.h | Enables passing also microsecond values as (target angle) parameter (see OneServo example). This requires additional 128 Bytes FLASH. |
 | `PRINT_FOR_SERIAL_PLOTTER` | disabled | ServoEasing.h | Generate serial output for Arduino Plotter. |
 | `USE_LEIGHTWEIGHT_SERVO_LIB` | disabled | ServoEasing.h | Makes the servo pulse generating immune to other libraries blocking interrupts for a longer time like SoftwareSerial, Adafruit_NeoPixel and DmxSimple. See below. Saves up to 742 bytes FLASH and 42 bytes RAM. |
 
+
 # Modifying compile options
 ### Modifying compile options with Arduino IDE
 First use *Sketch/Show Sketch Folder (Ctrl+K)*.<br/>
@@ -154,8 +157,8 @@ Control 8 servos to move a Quadruped robot.<br/>
 The full example with IR remote control, NeoPixel and US distance sensor support is available [here](https://github.com/ArminJo/QuadrupedControl).
 Only for AVR, because it uses EEPROM.
 
-### YouTube Video
-[![mePed V2 in actions](https://i.ytimg.com/vi/MsIjTRRUyGU/hqdefault.jpg)](https://youtu.be/MsIjTRRUyGU )
+### YouTube Videos
+[![mePed V2 in actions](https://i.ytimg.com/vi/MsIjTRRUyGU/hqdefault.jpg)](https://youtu.be/MsIjTRRUyGU)
 [![Another implementation](https://i.ytimg.com/vi/CSodffeebyg/hqdefault.jpg)](https://youtu.be/CSodffeebyg)
 
 ## RobotArmControl example
@@ -177,6 +180,8 @@ You must comment out the line `#define USE_PCA9685_SERVO_EXPANDER` in *ServoEasi
 ### YouTube Video
 [![Servos 16-19 and 28-31 in action](https://i.ytimg.com/vi/XMVh3IT5BgU/hqdefault.jpg)](https://youtu.be/XMVh3IT5BgU)
 
+### mePed V2 with PCA9685 expander
+![mePed V2 with PCA9685 expander](pictures/mePedWithPCA9685.jpg)
 
 # Servo utilities
 
@@ -233,7 +238,7 @@ This will print internal information visible in the Arduino *Serial Monitor* whi
 
 # Revision History
 ### Version 2.3.3 - work in progress
-- DegreeToMicrosecondsOrUnits() does not convert values >= 400 in order to support Microseconds instead of degrees as function arguments.
+- Added compile option `ENABLE_MICROS_AS_DEGREE_PARAMETER` to allow usage of microseconds instead of degree as function arguments for all functions using degrees as argument.
 - Improved LightweightServo API.
 
 ### Version 2.3.2

diff --git a/examples/EndPositionsTest/ADCUtils.cpp b/examples/EndPositionsTest/ADCUtils.cpp
@@ -171,6 +171,7 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
 
 /*
  * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * @return the maximum of aNumberOfSamples measurements.
  */
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples) {
     uint16_t tADCValue = 0;

diff --git a/examples/OneServo/OneServo.ino b/examples/OneServo/OneServo.ino
@@ -152,6 +152,12 @@ void loop() {
 #ifdef INFO
     Serial.println(F("Move from 180 to 0 degree with 360 degree per second using interrupts"));
 #endif
+    /*
+     * If you comment out the line
+     * #define ENABLE_MICROS_AS_DEGREE_PARAMETER
+     * in ServoEasing.h, you can specify the target angle directly as microseconds here
+     */
+//    Servo1.startEaseTo(DEFAULT_MICROSECONDS_FOR_0_DEGREE, 360, true);
     Servo1.startEaseTo(0, 360, true);
     // Wait for 250 ms. The servo should have moved 90 degree.
     delay(250);
@@ -162,7 +168,7 @@ void loop() {
      */
     Servo1.stop();
 #ifdef INFO
-    Serial.println(F("Stop for 1 second at 90 degree"));
+    Serial.println(F("Interrupt movement with stop() for 1 second at 90 degree"));
 #endif
     delay(1000);
     // continue movement using interrupts

diff --git a/examples/QuadrupedControl/ADCUtils.cpp b/examples/QuadrupedControl/ADCUtils.cpp
@@ -171,6 +171,7 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
 
 /*
  * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * @return the maximum of aNumberOfSamples measurements.
  */
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples) {
     uint16_t tADCValue = 0;

diff --git a/examples/RobotArmControl/ADCUtils.cpp b/examples/RobotArmControl/ADCUtils.cpp
@@ -171,6 +171,7 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
 
 /*
  * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * @return the maximum of aNumberOfSamples measurements.
  */
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples) {
     uint16_t tADCValue = 0;

diff --git a/examples/RobotArmControl/EasyButtonAtInt01.h b/examples/RobotArmControl/EasyButtonAtInt01.h
@@ -37,29 +37,7 @@
 #define VERSION_EASY_BUTTON "3.1.0"
 #define VERSION_EASY_BUTTON_MAJOR 3
 #define VERSION_EASY_BUTTON_MINOR 1
-
-/*
- *  Version 3.1.0 - 6/2020
- *  - 2 sets of constructors, one for only one button used and one for the second button if two buttons used.
- *  - Map pin numbers for Digispark pro boards, for use with with digispark library.
- *
- * Version 3.0.0 - 5/2020
- * - Added button release handler and adapted examples.
- * - Revoke change for "only one true result per press for checkForLongPressBlocking()". It is superseded by button release handler.
- * - Support buttons which are active high by defining BUTTON_IS_ACTIVE_HIGH.
- * - Improved detection of maximum bouncing period used in DebounceTest.
- *
- * Version 2.1.0 - 5/2020
- * - Avoid 1 ms delay for checkForLongPressBlocking() if button is not pressed.
- * - Only one true result per press for checkForLongPressBlocking().
- *
- * Version 2.0.0 - 1/2020
- * - Ported to ATtinyX5 and ATiny167.
- * - Support also PinChangeInterrupt for button 1 on Pin PA0 to PA7 for ATtiniy87/167.
- * - Long press detection support.
- * - Double press detection support.
- * - Renamed to EasyButtonAtInt01.cpp.h
- */
+// The change log is at the bottom of the file
 
 #if defined(__AVR__)
 #include <Arduino.h>
@@ -318,7 +296,7 @@ class EasyButton {
     void handleINT01Interrupts(); // internal use only
 
     bool LastBounceWasChangeToInactive; // Internal state, reflects actual reading with spikes and bouncing. Negative logic: true / active means button pin is LOW
-    volatile bool ButtonStateIsActive;  // Negative logic: true / active means button pin is LOW. If last press duration < BUTTON_DEBOUNCING_MILLIS it holds wrong value (true instead of false) :-(
+    volatile bool ButtonStateIsActive; // Negative logic: true / active means button pin is LOW. If last press duration < BUTTON_DEBOUNCING_MILLIS it holds wrong value (true instead of false) :-(
     volatile bool ButtonToggleState;    // Toggle is on press, not on release - initial value is false
 
     /*
@@ -380,6 +358,30 @@ void __attribute__ ((weak)) handleINT1Interrupt();
 #endif
 
 #endif // defined(__AVR__)
+
+/*
+ *  Version 3.1.0 - 6/2020
+ *  - 2 sets of constructors, one for only one button used and one for the second button if two buttons used.
+ *  - Map pin numbers for Digispark pro boards, for use with with digispark library.
+ *
+ * Version 3.0.0 - 5/2020
+ * - Added button release handler and adapted examples.
+ * - Revoke change for "only one true result per press for checkForLongPressBlocking()". It is superseded by button release handler.
+ * - Support buttons which are active high by defining BUTTON_IS_ACTIVE_HIGH.
+ * - Improved detection of maximum bouncing period used in DebounceTest.
+ *
+ * Version 2.1.0 - 5/2020
+ * - Avoid 1 ms delay for checkForLongPressBlocking() if button is not pressed.
+ * - Only one true result per press for checkForLongPressBlocking().
+ *
+ * Version 2.0.0 - 1/2020
+ * - Ported to ATtinyX5 and ATiny167.
+ * - Support also PinChangeInterrupt for button 1 on Pin PA0 to PA7 for ATtiniy87/167.
+ * - Long press detection support.
+ * - Double press detection support.
+ * - Renamed to EasyButtonAtInt01.cpp.h
+ */
+
 #endif /* EASY_BUTTON_AT_INT01_H_ */
 
 #pragma once
diff --git a/examples/SpeedTest/ADCUtils.cpp b/examples/SpeedTest/ADCUtils.cpp
@@ -171,6 +171,7 @@ uint16_t readADCChannelWithReferenceMultiSamples(uint8_t aChannelNumber, uint8_t
 
 /*
  * use ADC_PRESCALE16 which gives 13 us conversion time and good linearity
+ * @return the maximum of aNumberOfSamples measurements.
  */
 uint16_t readADCChannelWithReferenceMax(uint8_t aChannelNumber, uint8_t aReference, uint16_t aNumberOfSamples) {
     uint16_t tADCValue = 0;

diff --git a/library.json b/library.json
@@ -6,7 +6,7 @@
     "type": "git",
     "url": "https://github.com/ArminJo/ServoEasing"
   },
-  "version": "2.3.2",
+  "version": "2.3.3",
   "exclude": "pictures",
   "authors": {
     "name": "Armin Joachimsmeyer",

diff --git a/library.properties b/library.properties
@@ -1,9 +1,9 @@
 name=ServoEasing
-version=2.3.2
+version=2.3.3
 author=Armin Joachimsmeyer
 maintainer=Armin Joachimsmeyer <[email protected]>
 sentence=Enables smooth servo movement. <br/>Linear as well as other (Cubic, Circular, Bounce, etc.) ease movements for servos are provided. The Arduino Servo library or PCA9685 servo expanders are supported.<br/>
-paragraph=Just use <b>myServo.easeTo()</b> instead of <b>myServo.write()</b> and you have smooth servo movement.<br/><b>Non blocking</b> movement for all servos attached to the Arduino Servo library is implemented by reusing the interrupts of the Arduino servo timer.<br/><b>All servos can move synchronized.</b><br/><br/>Includes the following <b>easing functions</b>:<ul><li><b>Linear</b>, <b>Quadratic</b>, <b>Cubic</b> and <b>Quartic</b></li><li><b>Sine</b>, <b>Circular</b>, <b>Back</b>, <b>Elastic</b> and <b>Bounce</b></li><li><b>User defined</b></li></ul>Each function supports the <b>easing types</b> <b>In</b>, <b>Out</b>, <b>InOut</b> and <b>BouncingOutIn</b><br/>Trim and reverse operations are supported as well as continuous rotating servos.<br/><br/><b>New: </b>.<br/>
+paragraph=Just use <b>myServo.easeTo()</b> instead of <b>myServo.write()</b> and you have smooth servo movement.<br/><b>Non blocking</b> movement for all servos attached to the Arduino Servo library is implemented by reusing the interrupts of the Arduino servo timer.<br/><b>All servos can move synchronized.</b><br/><br/>Includes the following <b>easing functions</b>:<ul><li><b>Linear</b>, <b>Quadratic</b>, <b>Cubic</b> and <b>Quartic</b></li><li><b>Sine</b>, <b>Circular</b>, <b>Back</b>, <b>Elastic</b> and <b>Bounce</b></li><li><b>User defined</b></li></ul>Each function supports the <b>easing types</b> <b>In</b>, <b>Out</b>, <b>InOut</b> and <b>BouncingOutIn</b><br/>Trim and reverse operations are supported as well as continuous rotating servos.<br/><br/><b>New: Improved LightweightServo API, added compile option ENABLE_MICROS_AS_DEGREE_PARAMETER.</b>.<br/>
 category=Device Control
 url=https://github.com/ArminJo/ServoEasing
 architectures=avr,megaavr,sam,samd,esp8266,esp32,stm32,STM32F1,apollo3
diff --git a/pictures/mePedWithPCA9685.jpg b/pictures/mePedWithPCA9685.jpg
diff --git a/src/ServoEasing.cpp b/src/ServoEasing.cpp
@@ -478,8 +478,10 @@ void ServoEasing::write(int aValue) {
 #endif
         return;
     }
-    if (aValue < 400) { // treat values less than 400 as angles in degrees (valid values in microseconds are handled as microseconds)
-        sServoNextPositionArray[mServoIndex] = aValue;
+    sServoNextPositionArray[mServoIndex] = aValue;
+
+    if (aValue < THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS) {
+        // treat values less than 400 as angles in degrees, others are handled as microseconds
         aValue = DegreeToMicrosecondsOrUnits(aValue);
     }
     writeMicrosecondsOrUnits(aValue);
@@ -592,14 +594,20 @@ int ServoEasing::MicrosecondsOrUnitsToDegree(int aMicrosecondsOrUnits) {
 
 /**
  * We have around 10 µs per degree
+ * We do not convert values >= 400.
+ * This allows it to use Microseconds instead of degrees as function arguments for all functions using degree as argument.
  */
 int ServoEasing::DegreeToMicrosecondsOrUnits(int aDegree) {
 // For microseconds and PCA9685 units:
+#if defined ENABLE_MICROS_AS_DEGREE_PARAMETER
     if (aDegree < 400) {
-        return map(aDegree, 0, 180, mServo0DegreeMicrosecondsOrUnits, mServo180DegreeMicrosecondsOrUnits);
+#endif
+    return map(aDegree, 0, 180, mServo0DegreeMicrosecondsOrUnits, mServo180DegreeMicrosecondsOrUnits);
+#if defined ENABLE_MICROS_AS_DEGREE_PARAMETER
     } else {
         return aDegree;
     }
+#endif
 }
 
 /**
@@ -681,7 +689,17 @@ bool ServoEasing::startEaseTo(int aDegree, uint_fast16_t aDegreesPerSecond, bool
 #endif
         aDegreesPerSecond = 1;
     }
+
+#if defined ENABLE_MICROS_AS_DEGREE_PARAMETER
+    uint_fast16_t tMillisForCompleteMove;
+    int tDegree = aDegree;
+    if (aDegree >= THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS) {
+        tDegree = MicrosecondsOrUnitsToDegree(tDegree);
+    }
+    tMillisForCompleteMove = abs(tDegree - tCurrentAngle) * 1000L / aDegreesPerSecond;
+#else
     uint_fast16_t tMillisForCompleteMove = abs(aDegree - tCurrentAngle) * 1000L / aDegreesPerSecond;
+#endif
 
 #ifndef PROVIDE_ONLY_LINEAR_MOVEMENT
     if ((mEasingType & CALL_STYLE_MASK) == CALL_STYLE_BOUNCING_OUT_IN) {

diff --git a/src/ServoEasing.h b/src/ServoEasing.h
@@ -163,6 +163,12 @@
 #define TIMING_OUTPUT_PIN 12
 #endif
 
+/*
+ * If you require passing microsecond values as parameter instead of degree values. This requires additional 128 Bytes FLASH.
+ */
+//#define ENABLE_MICROS_AS_DEGREE_PARAMETER
+#define THRESHOLD_VALUE_FOR_INTERPRETING_VALUE_AS_MICROSECONDS  400  // treat values less than 400 as angles in degrees, others are handled as microseconds
+
 // Enable this to generate output for Arduino Serial Plotter (Ctrl-Shift-L)
 //#define PRINT_FOR_SERIAL_PLOTTER
 
@@ -516,7 +522,7 @@ extern float (*sEaseFunctionArray[])(float aPercentageOfCompletion);
 
 /*
  * Version 2.3.3 - 11/2020
- * - DegreeToMicrosecondsOrUnits() does not convert values >= 400 in order to support Microseconds instead of degrees as function arguments.
+ * - Added compile option `ENABLE_MICROS_AS_DEGREE_PARAMETER` to allow usage of microseconds instead of degree as function arguments for all functions using degrees as argument.
  * - Improved LightweightServo API.
  *
  * Version 2.3.2 - 9/2020