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69
arduino-cli/libraries/ESP32Servo/README.adoc Normal file
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= Servo Library for ESP32 =
This library attempts to faithfully replicate the semantics of the
Arduino Servo library (see http://www.arduino.cc/en/Reference/Servo)
for the ESP32, with two (optional) additions. The two new functions
expose the ability of the ESP32 PWM timers to vary timer width.
== License ==
Copyright (c) 2017 John K. Bennett. All right reserved.
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
Library Description:
--------------------
Servo - Class for manipulating servo motors connected to ESP32 pins.
int attach(pin ) - Attaches the given GPIO pin to the next free channel
(channels that have previously been detached are used first),
returns channel number or 0 if failure. All pin numbers are allowed,
but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
int attach(pin, min, max ) - Attaches to a pin setting min and max
values in microseconds; enforced minimum min is 500, enforced max
is 2500. Other semantics are the same as attach().
void write () - Sets the servo angle in degrees; a value below 500 is
treated as a value in degrees (0 to 180). These limit are enforced,
i.e., values are constrained as follows:
Value Becomes
----- -------
< 0 0
0 - 180 value (treated as degrees)
181 - 499 180
500 - (min-1) min
min-max (from attach or default) value (treated as microseconds)
(max+1) - 2500 max
void writeMicroseconds() - Sets the servo pulse width in microseconds.
min and max are enforced (see above).
int read() - Gets the last written servo pulse width as an angle between 0 and 180.
int readMicroseconds() - Gets the last written servo pulse width in microseconds.
bool attached() - Returns true if this servo instance is attached to a pin.
void detach() - Stops an the attached servo, frees the attached pin, and frees
its channel for reuse.
*** New ESP32-specific functions **
setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
as a side effect, the pulse width is recomputed.
int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
Useful Defaults:
----------------
default min pulse width for attach(): 1000us
default max pulse width for attach(): 2000us
default timer width 16 (if timer width is not set)
default pulse width 1500us (servos are initialized with this value)
MINIMUM pulse with: 500us
MAXIMUM pulse with: 2500us
MAXIMUM number of servos: 16 (this is the number of PWM channels in the ESP32)

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arduino-cli/libraries/ESP32Servo/examples/Knob/Knob.ino Normal file
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/*
Controlling a servo position using a potentiometer (variable resistor)
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
modified on 8 Nov 2013
by Scott Fitzgerald
modified for the ESP32 on March 2017
by John Bennett
see http://www.arduino.cc/en/Tutorial/Knob for a description of the original code
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
* degrees.
*
* Circuit: (using an ESP32 Thing from Sparkfun)
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
* the ground wire is typically black or brown, and the signal wire is typically yellow,
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
*
* We could also connect servo power to a separate external
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
* connect to any available GPIO pins on the ESP32 (in this example, we use pin 18.
*
* In this example, we assume a Tower Pro SG90 small servo connected to VBat.
* The published min and max for this servo are 500 and 2400, respectively.
* These values actually drive the servos a little past 0 and 180, so
* if you are particular, adjust the min and max values to match your needs.
*/
// Include the ESP32 Arduino Servo Library instead of the original Arduino Servo Library
#include <ESP32_Servo.h>
Servo myservo; // create servo object to control a servo
// Possible PWM GPIO pins on the ESP32: 0(used by on-board button),2,4,5(used by on-board LED),12-19,21-23,25-27,32-33
int servoPin = 18; // GPIO pin used to connect the servo control (digital out)
// Possible ADC pins on the ESP32: 0,2,4,12-15,32-39; 34-39 are recommended for analog input
int potPin = 34; // GPIO pin used to connect the potentiometer (analog in)
int ADC_Max = 4096; // This is the default ADC max value on the ESP32 (12 bit ADC width);
// this width can be set (in low-level oode) from 9-12 bits, for a
// a range of max values of 512-4096
int val; // variable to read the value from the analog pin
void setup()
{
myservo.attach(servoPin, 500, 2400); // attaches the servo on pin 18 to the servo object
// using SG90 servo min/max of 500us and 2400us
// for MG995 large servo, use 1000us and 2000us,
// which are the defaults, so this line could be
// "myservo.attach(servoPin);"
}
void loop() {
val = analogRead(potPin); // read the value of the potentiometer (value between 0 and 1023)
val = map(val, 0, ADC_Max, 0, 180); // scale it to use it with the servo (value between 0 and 180)
myservo.write(val); // set the servo position according to the scaled value
delay(200); // wait for the servo to get there
}

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/*
* ESP32 Servo Example Using Arduino ESP32 Servo Library
* John K. Bennett
* March, 2017
*
* This sketch uses the Arduino ESP32 Servo Library to sweep 4 servos in sequence.
*
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
* degrees.
*
* Circuit:
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
* the ground wire is typically black or brown, and the signal wire is typically yellow,
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
*
* We could also connect servo power to a separate external
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
* connect to any available GPIO pins on the ESP32 (in this example, we use pins
* 22, 19, 23, & 18).
*
* In this example, we assume four Tower Pro SG90 small servos.
* The published min and max for this servo are 500 and 2400, respectively.
* These values actually drive the servos a little past 0 and 180, so
* if you are particular, adjust the min and max values to match your needs.
* Experimentally, 550 and 2350 are pretty close to 0 and 180.
*/
#include <ESP32_Servo.h>
// create four servo objects
Servo servo1;
Servo servo2;
Servo servo3;
Servo servo4;
// Published values for SG90 servos; adjust if needed
int minUs = 500;
int maxUs = 2400;
// 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;
int pos = 0; // position in degrees
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);
}
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);
}
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);
}
}

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arduino-cli/libraries/ESP32Servo/examples/Multiple-Servo-Example-ESP32/Multiple-Servo-Example-ESP32.ino Normal file
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/*
* ESP32 Servo Example
* John K. Bennett
* March, 2017
*
* This sketch uses low-level ESP32 PWM functionality to sweep 4 servos in sequence.
* It does NOT use the ESP32_Servo library for Arduino.
*
* The ESP32 supports 16 hardware LED PWM channels that are intended
* to be used for LED brightness control. The low level ESP32 code allows us to set the
* PWM frequency and bit-depth, and then control them by setting bits in the relevant control
* register. The core files esp32-hal-ledc.* provides helper functions to make this set up
* straightforward.
*
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
* degrees.
*
* The ESP32 PWM timers allow us to set the timer width (max 20 bits). Thus
* the timer "tick" length is (pulse_period/2**timer_width), and the equation for pulse_high_width
* (the portion of cycle (20ms in our case) that the signal is high) becomes:
*
* pulse_high_width = count * tick_length
* = count * (pulse_period/2**timer_width)
*
* and count = (pulse_high_width / (pulse_period/2**timer_width))
*
* For example, if we want a 1500us pulse_high_width, we set pulse_period to 20ms (20000us)
* (this value is set in the ledcSetup call), and count (used in the ledcWrite call) to
* 1500/(20000/65655), or 4924. This is the value we write to the timer in the ledcWrite call.
*
* As a concrete example, suppose we want to repeatedly sweep four Tower Pro SG90 servos
* from 0 to 180 degrees. The published pulse width range for the SG90 is 500-2400us. Thus,
* we should vary the count used in ledcWrite from 1638 to 7864.
*
* Circuit:
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
* the ground wire is typically black or brown, and the signal wire is typically yellow,
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
*
* We could also connect servo power to a separate external
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
* connect to any available GPIO pins on the ESP32 (in this example, we use pins
* 22, 19, 23, & 18).
*
* In this example, we assume four Tower Pro SG90 small servos.
* The published min and max for this servo are 500 and 2400, respectively.
* These values actually drive the servos a little past 0 and 180, so
* if you are particular, adjust the min and max values to match your needs.
* Experimentally, 550us and 2350us are pretty close to 0 and 180.
*
* This code was inspired by a post on Hackaday by Elliot Williams.
*/
// Values for TowerPro SG90 small servos; adjust if needed
#define COUNT_LOW 1638
#define COUNT_HIGH 7864
#define TIMER_WIDTH 16
#include "esp32-hal-ledc.h"
void setup() {
ledcSetup(1, 50, TIMER_WIDTH); // channel 1, 50 Hz, 16-bit width
ledcAttachPin(22, 1); // GPIO 22 assigned to channel 1
ledcSetup(2, 50, TIMER_WIDTH); // channel 2, 50 Hz, 16-bit width
ledcAttachPin(19, 2); // GPIO 19 assigned to channel 2
ledcSetup(3, 50, TIMER_WIDTH); // channel 3, 50 Hz, 16-bit width
ledcAttachPin(23, 3); // GPIO 23 assigned to channel 3
ledcSetup(4, 50, TIMER_WIDTH); // channel 4, 50 Hz, 16-bit width
ledcAttachPin(18, 4); // GPIO 18 assigned to channel 4
}
void loop() {
for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100)
{
ledcWrite(1, i); // sweep servo 1
delay(200);
}
for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100)
{
ledcWrite(2, i); // sweep servo 2
delay(200);
}
for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100)
{
ledcWrite(3, i); // sweep the servo
delay(200);
}
for (int i=COUNT_LOW ; i < COUNT_HIGH ; i=i+100)
{
ledcWrite(4, i); // sweep the servo
delay(200);
}
}

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arduino-cli/libraries/ESP32Servo/examples/Sweep/Sweep.ino Normal file
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/* Sweep
by BARRAGAN <http://barraganstudio.com>
This example code is in the public domain.
modified 8 Nov 2013
by Scott Fitzgerald
modified for the ESP32 on March 2017
by John Bennett
see http://www.arduino.cc/en/Tutorial/Sweep for a description of the original code
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800
* degrees.
*
* Circuit: (using an ESP32 Thing from Sparkfun)
* Servo motors have three wires: power, ground, and signal. The power wire is typically red,
* the ground wire is typically black or brown, and the signal wire is typically yellow,
* orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw
* considerable power, we will connect servo power to the VBat pin of the ESP32 (located
* near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS.
*
* We could also connect servo power to a separate external
* power source (as long as we connect all of the grounds (ESP32, servo, and external power).
* In this example, we just connect ESP32 ground to servo ground. The servo signal pins
* connect to any available GPIO pins on the ESP32 (in this example, we use pin 18.
*
* In this example, we assume a Tower Pro MG995 large servo connected to an external power source.
* The published min and max for this servo is 1000 and 2000, respectively, so the defaults are fine.
* These values actually drive the servos a little past 0 and 180, so
* if you are particular, adjust the min and max values to match your needs.
*/
#include <ESP32_Servo.h>
Servo myservo; // create servo object to control a servo
// 16 servo objects can be created on the ESP32
int pos = 0; // variable to store the servo position
// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33
int servoPin = 18;
void setup() {
myservo.attach(servoPin); // attaches the servo on pin 18 to the servo object
// using default min/max of 1000us and 2000us
// different servos may require different min/max settings
// for an accurate 0 to 180 sweep
}
void loop() {
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}
}

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arduino-cli/libraries/ESP32Servo/keywords.txt Normal file
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#######################################
# Syntax Coloring Map ESP32_Servo
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Servo KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
attach KEYWORD2
detach KEYWORD2
write KEYWORD2
read KEYWORD2
attached KEYWORD2
writeMicroseconds KEYWORD2
readMicroseconds KEYWORD2
setTimerWidth KEYWORD2
readTimerWidth KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

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arduino-cli/libraries/ESP32Servo/library.properties Normal file
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name=ESP32_Servo
version=1.0
author=John K. Bennett
maintainer=John K. Bennett <jkb@colorado.edu>
sentence=Allows ESP32 boards to control servo motors using Arduino semantics.
paragraph=This library can control a many types of servos.<br />It makes use of the ESP32 PWM timers: the library can control up to 16 servos on individual channels<br />No attempt has been made to support multiple servos per channel.<br />
category=Device Control
url=http://www.arduino.cc/en/Reference/Servo
architectures=esp32

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arduino-cli/libraries/ESP32Servo/src/ESP32_Servo.cpp Normal file
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/*
Copyright (c) 2017 John K. Bennett. All right reserved.
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
* Notes on the implementation:
* The ESP32 supports 16 hardware LED PWM channels that are intended
* to be used for LED brightness control. The low level ESP32 code
* (esp32-hal-ledc.*) allows us to set the PWM frequency and bit-depth,
* and then manipulate them by setting bits in the relevant control
* registers.
*
* Different servos require different pulse widths to vary servo angle, but the range is
* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos
* sweep 180 degrees, so the lowest number in the published range for a particular servo
* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top
* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us,
* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 180
* degrees. We vary pulse width (recall that the pulse period is already set to 20ms) as follows:
*
* The ESP32 PWM timers allow us to set the timer width (max 20 bits). Thus
* the timer "tick" length is (pulse_period/2**timer_width), and the equation for pulse_high_width
* (the portion of the 20ms cycle that the signal is high) becomes:
*
* pulse_high_width = count * tick_length
* = count * (pulse_period/2**timer_width)
*
* and count = (pulse_high_width / (pulse_period/2**timer_width))
*
* So, for example, if I want a 1500us pulse_high_width, I set pulse_period to 20ms (20000us)
* (this value is set in the ledcSetup call), and count (used in the ledcWrite call) to
* 1500/(20000/65536), or 4924. This is the value we write to the timer in the ledcWrite call.
* If we increase the timer_width, the timer_count values need to be adjusted.
*
* The servo signal pins connect to any available GPIO pins on the ESP32, but not all pins are
* GPIO pins.
*
* The ESP32 is a 32 bit processor that includes FP support; this code reflects that fact.
*/
#include "ESP32_Servo.h"
#include "esp32-hal-ledc.h"
#include "Arduino.h"
// initialize the class variable ServoCount
int Servo::ServoCount = 0;
// The ChannelUsed array elements are 0 if never used, 1 if in use, and -1 if used and disposed
// (i.e., available for reuse)
int Servo::ChannelUsed[MAX_SERVOS+1] = {0}; // we ignore the zeroth element
Servo::Servo()
{
this->servoChannel = 0;
// see if there is a servo channel available for reuse
bool foundChannelForReuse = false;
for (int i = 1; i < MAX_SERVOS+1; i++)
{
if (ChannelUsed[i] == -1)
{
// reclaim this channel
ChannelUsed[i] = 1;
this->servoChannel = i;
foundChannelForReuse = true;
break;
}
}
if (!foundChannelForReuse)
{
// no channels available for reuse; get a new one if we can
if (ServoCount < MAX_SERVOS)
{
this->servoChannel = ++ServoCount; // assign a servo channel number to this instance
ChannelUsed[this->servoChannel] = 1;
}
else
{
this->servoChannel = 0; // too many servos in use
}
}
// if we got a channel either way, finish initializing it
if (this->servoChannel > 0)
{
// initialize this channel with plausible values, except pin # (we set pin # when attached)
this->ticks = DEFAULT_PULSE_WIDTH_TICKS;
this->timer_width = DEFAULT_TIMER_WIDTH;
this->pinNumber = -1; // make it clear that we haven't attached a pin to this channel
this->min = DEFAULT_uS_LOW;
this->max = DEFAULT_uS_HIGH;
this->timer_width_ticks = pow(2,this->timer_width);
}
}
int Servo::attach(int pin)
{
return (this->attach(pin, DEFAULT_uS_LOW, DEFAULT_uS_HIGH));
}
int Servo::attach(int pin, int min, int max)
{
if ((this->servoChannel <= MAX_SERVOS) && (this->servoChannel > 0))
{
// Recommend only the following pins 2,4,12-19,21-23,25-27,32-33 (enforcement commented out)
//if ((pin == 2) || (pin ==4) || ((pin >= 12) && (pin <= 19)) || ((pin >= 21) && (pin <= 23)) ||
// ((pin >= 25) && (pin <= 27)) || (pin == 32) || (pin == 33))
//{
// OK to proceed; first check for new/reuse
if (this->pinNumber < 0) // we are attaching to a new or previously detached pin; we need to initialize/reinitialize
{
// claim/reclaim this channel
ChannelUsed[this->servoChannel] = 1;
this->ticks = DEFAULT_PULSE_WIDTH_TICKS;
this->timer_width = DEFAULT_TIMER_WIDTH;
this->timer_width_ticks = pow(2,this->timer_width);
}
this->pinNumber = pin;
//}
//else
//{
// return 0;
//}
// min/max checks
if (min < MIN_PULSE_WIDTH) // ensure pulse width is valid
min = MIN_PULSE_WIDTH;
if (max > MAX_PULSE_WIDTH)
max = MAX_PULSE_WIDTH;
this->min = min; //store this value in uS
this->max = max; //store this value in uS
// Set up this channel
// if you want anything other than default timer width, you must call setTimerWidth() before attach
ledcSetup(this->servoChannel, REFRESH_CPS, this->timer_width); // channel #, 50 Hz, timer width
ledcAttachPin(this->pinNumber, this->servoChannel); // GPIO pin assigned to channel
}
else return 0;
}
void Servo::detach()
{
if (this->attached())
{
ledcDetachPin(this->pinNumber);
//keep track of detached servos channels so we can reuse them if needed
ChannelUsed[this->servoChannel] = -1;
this->pinNumber = -1;
}
}
void Servo::write(int value)
{
// treat values less than MIN_PULSE_WIDTH (500) as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, this->min, this->max);
}
this->writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
// calculate and store the values for the given channel
if ((this->servoChannel <= MAX_SERVOS) && (this->attached())) // ensure channel is valid
{
if (value < this->min) // ensure pulse width is valid
value = this->min;
else if (value > this->max)
value = this->max;
value = usToTicks(value); // convert to ticks
this->ticks = value;
// do the actual write
ledcWrite(this->servoChannel, this->ticks);
}
}
int Servo::read() // return the value as degrees
{
return (map(readMicroseconds()+1, this->min, this->max, 0, 180));
}
int Servo::readMicroseconds()
{
int pulsewidthUsec;
if ((this->servoChannel <= MAX_SERVOS) && (this->attached()))
{
pulsewidthUsec = ticksToUs(this->ticks);
}
else
{
pulsewidthUsec = 0;
}
return (pulsewidthUsec);
}
bool Servo::attached()
{
return (ChannelUsed[this->servoChannel]);
}
void Servo::setTimerWidth(int value)
{
// only allow values between 16 and 20
if (value < 16)
value = 16;
else if (value > 20)
value = 20;
// Fix the current ticks value after timer width change
// The user can reset the tick value with a write() or writeUs()
int widthDifference = this->timer_width - value;
// if positive multiply by diff; if neg, divide
if (widthDifference > 0)
{
this->ticks << widthDifference;
}
else
{
this->ticks >> widthDifference;
}
this->timer_width = value;
this->timer_width_ticks = pow(2,this->timer_width);
// If this is an attached servo, clean up
if ((this->servoChannel <= MAX_SERVOS) && (this->attached()))
{
// detach, setup and attach again to reflect new timer width
ledcDetachPin(this->pinNumber);
ledcSetup(this->servoChannel, REFRESH_CPS, this->timer_width);
ledcAttachPin(this->pinNumber, this->servoChannel);
}
}
int Servo::readTimerWidth()
{
return (this->timer_width);
}
int Servo::usToTicks(int usec)
{
return (int)((float)usec / ((float)REFRESH_USEC / (float)this->timer_width_ticks));
}
int Servo::ticksToUs(int ticks)
{
return (int)((float)ticks * ((float)REFRESH_USEC / (float)this->timer_width_ticks));
}

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/*
Copyright (c) 2017 John K. Bennett. All right reserved.
ESP32_Servo.h - Servo library for ESP32 - Version 1
Original Servo.h written by Michael Margolis in 2009
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
*/
/*
A servo is activated by creating an instance of the Servo class, and passing
the desired GPIO pin to the attach() method.
The servos are pulsed in the background using the value most recently
written using the write() method.
The class methods are:
Servo - Class for manipulating servo motors connected to ESP32 pins.
int attach(pin ) - Attaches the given GPIO pin to the next free channel
(channels that have previously been detached are used first),
returns channel number or 0 if failure. All pin numbers are allowed,
but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
int attach(pin, min, max ) - Attaches to a pin setting min and max
values in microseconds; enforced minimum min is 500, enforced max
is 2500. Other semantics same as attach().
void write () - Sets the servo angle in degrees; a value below 500 is
treated as a value in degrees (0 to 180). These limit are enforced,
i.e., values are treated as follows:
Value Becomes
----- -------
< 0 0
0 - 180 value (treated as degrees)
181 - 499 180
500 - (min-1) min
min-max (from attach or default) value (treated as microseconds)
(max+1) - 2500 max
void writeMicroseconds() - Sets the servo pulse width in microseconds.
min and max are enforced (see above).
int read() - Gets the last written servo pulse width as an angle between 0 and 180.
int readMicroseconds() - Gets the last written servo pulse width in microseconds.
bool attached() - Returns true if this servo instance is attached.
void detach() - Stops an the attached servo, frees its attached pin, and frees
its channel for reuse).
*** ESP32-specific functions **
setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
as a side effect, the pulse width is recomputed.
int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
*/
#ifndef ESP32_Servo_h
#define ESP32_Servo_h
// Values for TowerPro MG995 large servos (and many other hobbyist servos)
#define DEFAULT_uS_LOW 1000 // 1000us
#define DEFAULT_uS_HIGH 2000 // 2000us
// Values for TowerPro SG90 small servos
//#define DEFAULT_uS_LOW 400
//#define DEFAULT_uS_HIGH 2400
#define DEFAULT_TIMER_WIDTH 16
#define DEFAULT_TIMER_WIDTH_TICKS 65536
#define ESP32_Servo_VERSION 1 // software version of this library
#define MIN_PULSE_WIDTH 500 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2500 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define DEFAULT_PULSE_WIDTH_TICKS 4825
#define REFRESH_CPS 50
#define REFRESH_USEC 20000
#define MAX_SERVOS 16 // no. of PWM channels in ESP32
/*
* This group/channel/timmer mapping is for information only;
* the details are handled by lower-level code
*
* LEDC Chan to Group/Channel/Timer Mapping
** ledc: 0 => Group: 0, Channel: 0, Timer: 0
** ledc: 1 => Group: 0, Channel: 1, Timer: 0
** ledc: 2 => Group: 0, Channel: 2, Timer: 1
** ledc: 3 => Group: 0, Channel: 3, Timer: 1
** ledc: 4 => Group: 0, Channel: 4, Timer: 2
** ledc: 5 => Group: 0, Channel: 5, Timer: 2
** ledc: 6 => Group: 0, Channel: 6, Timer: 3
** ledc: 7 => Group: 0, Channel: 7, Timer: 3
** ledc: 8 => Group: 1, Channel: 0, Timer: 0
** ledc: 9 => Group: 1, Channel: 1, Timer: 0
** ledc: 10 => Group: 1, Channel: 2, Timer: 1
** ledc: 11 => Group: 1, Channel: 3, Timer: 1
** ledc: 12 => Group: 1, Channel: 4, Timer: 2
** ledc: 13 => Group: 1, Channel: 5, Timer: 2
** ledc: 14 => Group: 1, Channel: 6, Timer: 3
** ledc: 15 => Group: 1, Channel: 7, Timer: 3
*/
class Servo
{
public:
Servo();
// Arduino Servo Library calls
int attach(int pin); // attach the given pin to the next free channel, returns channel number or 0 if failure
int attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo
bool attached(); // return true if this servo is attached, otherwise false
// ESP32 only functions
void setTimerWidth(int value); // set the PWM timer width (ESP32 ONLY)
int readTimerWidth(); // get the PWM timer width (ESP32 ONLY)
private:
int usToTicks(int usec);
int ticksToUs(int ticks);
static int ServoCount; // the total number of attached servos
static int ChannelUsed[]; // used to track whether a channel is in service
int servoChannel = 0; // channel number for this servo
int min = DEFAULT_uS_LOW; // minimum pulse width for this servo
int max = DEFAULT_uS_HIGH; // maximum pulse width for this servo
int pinNumber = 0; // GPIO pin assigned to this channel
int timer_width = DEFAULT_TIMER_WIDTH; // ESP32 allows variable width PWM timers
int ticks = DEFAULT_PULSE_WIDTH_TICKS; // current pulse width on this channel
int timer_width_ticks = DEFAULT_TIMER_WIDTH_TICKS; // no. of ticks at rollover; varies with width
};
#endif