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Author: khoih-prog

README.md

@@ -40,7 +40,11 @@ Using 256 prescaler, maximum timer1 interval is only 26.843542 seconds !!!
 
 The timer1 counters can be configured to support automatic reload.
 
-## New from v1.0.0
+## New from v1.0.1
+
+1. Add functions `getPosition()` and `getPulseWidth()`
+2. Optimize the code
+3. Add more complicated example
 
 Now these new `16 ISR-based Servo controllers` just use one ESP8266 Hardware Timer. The number 16 is just arbitrarily chosen, and depending 
 on application, you can increase that number to 32, 48, etc. without problem.
@@ -70,6 +74,10 @@ How to use:
 
 #include "ESP8266_ISR_Servo.h"
 
+// Published values for SG90 servos; adjust if needed
+#define MIN_MICROS      800  //544
+#define MAX_MICROS      2450
+
 int servoIndex1  = -1;
 int servoIndex2  = -1;
 
@@ -78,8 +86,8 @@ void setup()
   Serial.begin(115200);
   Serial.println("\nStarting");
 
-  servoIndex1 = ISR_Servo.setupServo(D8);
-  servoIndex2 = ISR_Servo.setupServo(D7);
+  servoIndex1 = ISR_Servo.setupServo(D8, MIN_MICROS, MAX_MICROS);
+  servoIndex2 = ISR_Servo.setupServo(D7, MIN_MICROS, MAX_MICROS);
   
   if (servoIndex1 != -1)
     Serial.println("Setup Servo1 OK");
@@ -104,7 +112,7 @@ void loop()
       // in steps of 1 degree
       ISR_Servo.setPosition(servoIndex1, position);
       ISR_Servo.setPosition(servoIndex2, 180 - position);
-      // waits 15ms for the servo to reach the position
+      // waits 50ms for the servo to reach the position
       delay(50  /*15*/);
     }
     
@@ -113,8 +121,8 @@ void loop()
       // goes from 180 degrees to 0 degrees
       ISR_Servo.setPosition(servoIndex1, position);
       ISR_Servo.setPosition(servoIndex2, 180 - position);
-      // waits 15ms for the servo to reach the position
-      delay(50  /*15*/);                                  
+      // waits 50ms for the servo to reach the position
+      delay(50  /*15*/);
     }
   }
 }
@@ -128,7 +136,7 @@ void loop()
 
 ## DONE
 
-For current version v1.0.0
+For current version v1.0.1
 
 1. Basic 16 ISR-based servo controllers using 1 hardware timer for ESP8266.
 

examples/MultipleRandomServos/MultipleRandomServos.ino

@@ -120,28 +120,34 @@ void loop()
   for (int index = 0; index < NUM_SERVOS; index++)
   {
     ISR_Servo.setPosition(ISR_servo[index].servoIndex, position );
-  }
-  // waits 1s for the servo to reach the position
+    Serial.print("Servos idx = " + String(index) + ", act. pos. (deg) = " + String(ISR_Servo.getPosition(ISR_servo[index].servoIndex)) );
+    Serial.println(", pulseWidth (us) = " + String(ISR_Servo.getPulseWidth(ISR_servo[index].servoIndex)) );
+ }
+  // waits 5s between test
   delay(5000);
 
   position = 90;
   Serial.println("Servos @ 90 degree");
   for (int index = 0; index < NUM_SERVOS; index++)
   {
     ISR_Servo.setPosition(ISR_servo[index].servoIndex, position );
+    Serial.print("Servos idx = " + String(index) + ", act. pos. (deg) = " + String(ISR_Servo.getPosition(ISR_servo[index].servoIndex)) );
+    Serial.println(", pulseWidth (us) = " + String(ISR_Servo.getPulseWidth(ISR_servo[index].servoIndex)) );
   }
-  // waits 1s for the servo to reach the position
+  // waits 5s between test
   delay(5000);
 
   position = 180;
   Serial.println("Servos @ 180 degree");
   for (int index = 0; index < NUM_SERVOS; index++)
   {
     ISR_Servo.setPosition(ISR_servo[index].servoIndex, position );
+    Serial.print("Servos idx = " + String(index) + ", act. pos. (deg) = " + String(ISR_Servo.getPosition(ISR_servo[index].servoIndex)) );
+    Serial.println(", pulseWidth (us) = " + String(ISR_Servo.getPulseWidth(ISR_servo[index].servoIndex)) );
   }
-  // waits 1s for the servo to reach the position
+  // waits 5s between test
   delay(5000);
-
+  
   Serial.println("Servos sweeps from 0-180 degress");
   for (position = 0; position <= 180; position += 1) 
   { 
@@ -151,9 +157,10 @@ void loop()
     {
       ISR_Servo.setPosition(ISR_servo[index].servoIndex, position );
     }
-    // waits 1s for the servo to reach the position
+    // waits 50ms for the servo to reach the position
     delay(50);
   }
+  // waits 5s between test
   delay(5000);
 
   Serial.println("Servos sweeps from 180-0 degress");  
@@ -165,9 +172,10 @@ void loop()
     {
       ISR_Servo.setPosition(ISR_servo[index].servoIndex, position );
     }
-    // waits 1s for the servo to reach the position
+    // waits 50ms for the servo to reach the position
     delay(50);
   }
+  // waits 5s between test
   delay(5000);
 
   Serial.println("Servos, index depending, be somewhere from 0-180 degress");
@@ -179,7 +187,7 @@ void loop()
     {
       ISR_Servo.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180 );
     }
-    // waits 1s for the servo to reach the position
+    // waits 50ms for the servo to reach the position
     delay(50);
   }
   delay(5000);
@@ -193,9 +201,10 @@ void loop()
     {
       ISR_Servo.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180 );
     }
-    // waits 1s for the servo to reach the position
+    // waits 50ms for the servo to reach the position
     delay(50);
   }
+  // waits 5s between test
   delay(5000);
 
 }

keywords.txt

@@ -10,6 +10,9 @@ init  KEYWORD2
 run KEYWORD2
 setupServo  KEYWORD2
 setPosition  KEYWORD2
+getPosition  KEYWORD2
+setPulseWidth  KEYWORD2
+getPulseWidth  KEYWORD2
 deleteServo  KEYWORD2
 isEnabled KEYWORD2
 enable  KEYWORD2

library.properties

@@ -1,10 +1,10 @@
 name=ESP8266_ISR_Servo
-version=1.0.0
+version=1.0.1
 author=Khoi Hoang
 maintainer=Khoi Hoang
 license=MIT
 maintainer=Khoi Hoang <[email protected]>
-sentence=This library enables you to use Interrupt from Hardware Timers on an ESP8266.
+sentence=This library enables you to use Interrupt from Hardware Timers on an ESP8266 to control servo motors.
 paragraph=This library enables you to use 1 Hardware Timer on an ESP8266-based board to control up to 16 or more servo motors.
 category=Timing
 url=https://github.com/khoih-prog/ESP8266_ISR_Servo

src/ESP8266_ISR_Servo.cpp

@@ -5,7 +5,7 @@
  * 
  * Built by Khoi Hoang https://github.com/khoih-prog/ESP8266_ISR_Servo
  * Licensed under MIT license
- * Version: 1.0.0
+ * Version: 1.0.1
  *
  * The ESP8266 timers are badly designed, using only 23-bit counter along with maximum 256 prescaler. They're only better than UNO / Mega.
  * The ESP8266 has two hardware timers, but timer0 has been used for WiFi and it's not advisable to use. Only timer1 is available.
@@ -27,13 +27,14 @@
  * Version Modified By   Date      Comments
  * ------- -----------  ---------- -----------
  *  1.0.0   K Hoang      04/12/2019 Initial coding
-*****************************************************************************************************************************/
+ *  1.0.1   K Hoang      05/12/2019 Add more features getPosition and getPulseWidth. Optimize.
+ *****************************************************************************************************************************/
 
 #include "ESP8266_ISR_Servo.h"
 #include <string.h>
 
 #ifndef ISR_SERVO_DEBUG
-#define ISR_SERVO_DEBUG      1
+#define ISR_SERVO_DEBUG      0
 #endif
 
 //extern void ICACHE_RAM_ATTR ESP8266_ISR_Servo_Handler(void);
@@ -175,7 +176,7 @@ int ESP8266_ISR_Servo::setupServo(uint8_t pin, int min, int max)
   return servoIndex;
 }
 
-bool ESP8266_ISR_Servo::setPosition(unsigned servoIndex, unsigned long position) 
+bool ESP8266_ISR_Servo::setPosition(unsigned servoIndex, int position) 
 {
   if (servoIndex >= MAX_SERVOS) 
     return false;
@@ -197,6 +198,79 @@ bool ESP8266_ISR_Servo::setPosition(unsigned servoIndex, unsigned long position)
   return false;
 }
 
+// returns last position in degrees if success, or -1 on wrong servoIndex
+int ESP8266_ISR_Servo::getPosition(unsigned servoIndex)
+{
+  if (servoIndex >= MAX_SERVOS) 
+    return -1;
+
+  // Updates interval of existing specified servo
+  if ( servo[servoIndex].enabled && (servo[servoIndex].pin <= ESP8266_MAX_PIN) ) 
+  {         
+    #if (ISR_SERVO_DEBUG > 0)
+    Serial.println("Idx = " + String(servoIndex) + ", cnt = " + String(servo[servoIndex].count) + ", pos = " + String(servo[servoIndex].position));
+    #endif
+
+    return (servo[servoIndex].position);
+  }
+
+  // return 0 for non-used numServo or bad pin
+  return -1;
+} 
+    
+    
+// setPulseWidth will set servo PWM Pulse Width in microseconds, correcponding to certain position in degrees
+// by using PWM, turn HIGH 'pulseWidth' microseconds within REFRESH_INTERVAL (20000us)
+// min and max for each individual servo are enforced
+// returns true on success or -1 on wrong servoIndex
+bool ESP8266_ISR_Servo::setPulseWidth(unsigned servoIndex, unsigned int pulseWidth)
+{
+  if (servoIndex >= MAX_SERVOS) 
+    return false;
+
+  // Updates interval of existing specified servo
+  if ( servo[servoIndex].enabled && (servo[servoIndex].pin <= ESP8266_MAX_PIN) ) 
+  {
+    if (pulseWidth < servo[servoIndex].min)
+      pulseWidth = servo[servoIndex].min;
+    else if (pulseWidth > servo[servoIndex].max)
+      pulseWidth = servo[servoIndex].max;
+      
+    servo[servoIndex].count     = pulseWidth / TIMER_INTERVAL_MICRO;
+    servo[servoIndex].position  = map(pulseWidth, servo[servoIndex].min, servo[servoIndex].max, 0, 180);
+
+    #if (ISR_SERVO_DEBUG > 0)
+      Serial.println("Idx = " + String(servoIndex) + ", cnt = " + String(servo[servoIndex].count) + ", pos = " + String(servo[servoIndex].position));
+    #endif
+
+    return true;
+  }
+  
+  // false return for non-used numServo or bad pin
+  return false;
+}
+
+// returns pulseWidth in microsecs (within min/max range) if success, or 0 on wrong servoIndex
+unsigned int ESP8266_ISR_Servo::getPulseWidth(unsigned servoIndex)
+{
+  if (servoIndex >= MAX_SERVOS) 
+    return 0;
+
+  // Updates interval of existing specified servo
+  if ( servo[servoIndex].enabled && (servo[servoIndex].pin <= ESP8266_MAX_PIN) ) 
+  {         
+    #if (ISR_SERVO_DEBUG > 0)
+    Serial.println("Idx = " + String(servoIndex) + ", cnt = " + String(servo[servoIndex].count) + ", pos = " + String(servo[servoIndex].position));
+    #endif
+
+    return (servo[servoIndex].count * TIMER_INTERVAL_MICRO );
+  }
+
+  // return 0 for non-used numServo or bad pin
+  return 0;
+}      
+
+    
 void ESP8266_ISR_Servo::deleteServo(unsigned servoIndex) 
 {
   if ( (numServos == 0) || (servoIndex >= MAX_SERVOS) )

src/ESP8266_ISR_Servo.h

@@ -5,7 +5,7 @@
  * 
  * Built by Khoi Hoang https://github.com/khoih-prog/ESP8266_ISR_Servo
  * Licensed under MIT license
- * Version: 1.0.0
+ * Version: 1.0.1
  *
  * The ESP8266 timers are badly designed, using only 23-bit counter along with maximum 256 prescaler. They're only better than UNO / Mega.
  * The ESP8266 has two hardware timers, but timer0 has been used for WiFi and it's not advisable to use. Only timer1 is available.
@@ -27,7 +27,8 @@
  * Version Modified By   Date      Comments
  * ------- -----------  ---------- -----------
  *  1.0.0   K Hoang      04/12/2019 Initial coding
-*****************************************************************************************************************************/
+ *  1.0.1   K Hoang      05/12/2019 Add more features getPosition and getPulseWidth. Optimize.
+ *****************************************************************************************************************************/
 
 
 #ifndef ESP8266_ISR_SERVO_H
@@ -56,7 +57,7 @@
 #include "ESP8266FastTimerInterrupt.h"
 
 #ifndef ISR_SERVO_DEBUG
-#define ISR_SERVO_DEBUG      1
+#define ISR_SERVO_DEBUG      0
 #endif
 
 //#define ESP8266_ISR_Servo ESP8266ISRServo
@@ -96,8 +97,20 @@ class ESP8266_ISR_Servo
     // setPosition will set servo to position in degrees
     // by using PWM, turn HIGH 'duration' microseconds within REFRESH_INTERVAL (20000us)
     // returns true on success or -1 on wrong servoIndex
-    bool setPosition(unsigned servoIndex, unsigned long position);
+    bool setPosition(unsigned servoIndex, int position);
+    
+    // returns last position in degrees if success, or -1 on wrong servoIndex
+    int getPosition(unsigned servoIndex);   
 
+    // setPulseWidth will set servo PWM Pulse Width in microseconds, correcponding to certain position in degrees
+    // by using PWM, turn HIGH 'pulseWidth' microseconds within REFRESH_INTERVAL (20000us)
+    // min and max for each individual servo are enforced
+    // returns true on success or -1 on wrong servoIndex
+    bool setPulseWidth(unsigned servoIndex, unsigned int pulseWidth);
+    
+    // returns pulseWidth in microsecs (within min/max range) if success, or 0 on wrong servoIndex
+    unsigned int getPulseWidth(unsigned servoIndex);
+       
     // destroy the specified servo
     void deleteServo(unsigned servoIndex);
 
@@ -137,7 +150,7 @@ class ESP8266_ISR_Servo
     {
       uint8_t       pin;                  // pin servo connected to
       unsigned long count;                // In microsecs
-      unsigned long position;             // In degrees      
+      int           position;             // In degrees      
       bool          enabled;              // true if enabled
       int16_t       min;
       int16_t       max;