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Added support for continuous rotation servo motor #3

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Added support for continuous rotation servo motor #3

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57 changes: 45 additions & 12 deletions servometer/servometer.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,9 @@ int servoAngle = SERVO_MAX;
int currentServoAngle = SERVO_MAX;
int noDataCount = 0;

int servoType = 180; //360 for continuous rotation servo
int servoSpeed = 130; //Servo motor speed in RPM

/*
Setup, initialize i2c and other pins
*/
Expand Down Expand Up @@ -149,7 +152,25 @@ void moveServo() {
else {
while(currentServoAngle != servoAngle) {
currentServoAngle += (servoAngle > currentServoAngle ? 1 : -1);
servo.write(currentServoAngle);
if(servoType==180)
{
servo.write(currentServoAngle);
}
else
{
if(currentServoAngle>servoAngle)
{
servo.write(180);
delay((((currentServoAngle-servoAngle)/360)/(servoSpeed*60))*1000);
servo.write(90);
}
else
{
servo.write(180);
delay((((servoAngle-currentServoAngle)/360)/(servoSpeed*60))*1000);
servo.write(90);
}
}
delay(50);
}
}
Expand Down Expand Up @@ -220,15 +241,27 @@ String formatValueForSegmentDisplay(String value)
void cycleServo()
{
// now scan back from 180 to 0 degrees
for(int servoAngle = SERVO_MAX; servoAngle > SERVO_MIN; servoAngle--)
{
servo.write(servoAngle);
delay(5);
}
// scan from 0 to 180 degrees
for(int servoAngle = SERVO_MIN; servoAngle < SERVO_MAX; servoAngle++)
{
servo.write(servoAngle);
delay(5);
}
if(servoType==180)
{
for(int servoAngle = SERVO_MAX; servoAngle > SERVO_MIN; servoAngle--)
{
servo.write(servoAngle);
delay(5);
}
// scan from 0 to 180 degrees
for(int servoAngle = SERVO_MIN; servoAngle < SERVO_MAX; servoAngle++)
{
servo.write(servoAngle);
delay(5);
}
}
else
{
servoAngle = SERVO_MAX;
servo.write(180);
while(servoAngle > SERVO_MIN);
servo.write(0);
while(servoAngle < SERVO_MAX);
servo.write(90);
}
}