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feat: 更新ESP32Servo库

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王立帮
2025-04-29 21:38:30 +08:00
parent 231fd8463f
commit 29e0873289
19 changed files with 3649 additions and 854 deletions
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164
arduino-cli/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino
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@@ -33,74 +33,130 @@
* Experimentally, 550 and 2350 are pretty close to 0 and 180.
*/
#include <ESP32_Servo.h>
#include <ESP32Servo.h>
// create four servo objects
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo2;
Servo servo3;
Servo servo4;
Servo servo5;
// Published values for SG90 servos; adjust if needed
int minUs = 500;
int maxUs = 2400;
int minUs = 1000;
int maxUs = 2000;
// These are all GPIO pins on the ESP32
// Recommended pins include 2,4,12-19,21-23,25-27,32-33
int servo1Pin = 18;
int servo2Pin = 19;
int servo3Pin = 22;
int servo4Pin = 23;
// Recommended pins include 2,4,12-19,21-23,25-27,32-33
// for the ESP32-S2 the GPIO pins are 1-21,26,33-42
// for the ESP32-S3 the GPIO pins are 1-21,35-45,47-48
// for the ESP32-C3 the GPIO pins are 1-10,18-21
#if defined(CONFIG_IDF_TARGET_ESP32C3)
int servo1Pin = 7;
int servo2Pin = 6;
int servo3Pin = 5;
int servo4Pin = 4;
int servo5Pin = 3;
#else
int servo1Pin = 15;
int servo2Pin = 16;
int servo3Pin = 14;
#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3)
int servo4Pin = 13;
#else
int servo4Pin = 32;
#endif
int servo5Pin = 4;
#endif
int pos = 0; // position in degrees
ESP32PWM pwm;
void setup() {
// Allow allocation of all timers
ESP32PWM::allocateTimer(0);
ESP32PWM::allocateTimer(1);
ESP32PWM::allocateTimer(2);
ESP32PWM::allocateTimer(3);
Serial.begin(115200);
servo1.setPeriodHertz(50); // Standard 50hz servo
servo2.setPeriodHertz(50); // Standard 50hz servo
servo3.setPeriodHertz(330); // Standard 50hz servo
servo4.setPeriodHertz(200); // Standard 50hz servo
//servo5.setPeriodHertz(50); // Standard 50hz servo
void setup()
{
servo1.attach(servo1Pin, minUs, maxUs);
servo2.attach(servo2Pin, minUs, maxUs);
servo3.attach(servo3Pin, minUs, maxUs);
servo4.attach(servo4Pin, minUs, maxUs);
}
void loop() {
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo1.write(pos);
delay(20); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo1.write(pos);
delay(20);
}
servo1.attach(servo1Pin, minUs, maxUs);
servo2.attach(servo2Pin, minUs, maxUs);
#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32C3)
pwm.attachPin(37, 10000);//10khz
#elif defined(CONFIG_IDF_TARGET_ESP32C3)
pwm.attachPin(7, 10000);//10khz
#else
pwm.attachPin(27, 10000);//10khz
#endif
servo3.attach(servo3Pin, minUs, maxUs);
servo4.attach(servo4Pin, minUs, maxUs);
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo2.write(pos);
delay(20); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo2.write(pos);
delay(20);
}
//servo5.attach(servo5Pin, minUs, maxUs);
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo3.write(pos);
delay(20); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo3.write(pos);
delay(20);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo4.write(pos);
delay(20); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo4.write(pos);
delay(20);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo1.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo1.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo2.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo2.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo3.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo3.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo4.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo4.write(pos);
delay(1);
}
for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees
// in steps of 1 degree
servo5.write(pos);
delay(1); // waits 20ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees
servo5.write(pos);
delay(1);
}
servo1.detach();
servo2.detach();;
servo3.detach();
servo4.detach();
pwm.detachPin(27);
delay(5000);
}