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Diffstat (limited to 'libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino')
| -rw-r--r-- | libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino | 162 |
1 files changed, 162 insertions, 0 deletions
diff --git a/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino b/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino new file mode 100644 index 0000000..510665e --- /dev/null +++ b/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino @@ -0,0 +1,162 @@ +/* + * 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 <ESP32Servo.h> + +// create four servo objects +Servo servo1; +Servo servo2; +Servo servo3; +Servo servo4; +Servo servo5; +// Published values for SG90 servos; adjust if needed +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 +// 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 loop() { + 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); + + //servo5.attach(servo5Pin, minUs, maxUs); + + + 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); + +} + |