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Fix initial move of servo motor #31

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Fix initial move of servo motor #31

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8 changes: 7 additions & 1 deletion VarSpeedServo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -301,7 +301,7 @@ VarSpeedServo::VarSpeedServo()
{
if( ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
servos[this->servoIndex].ticks = 0; // store default values - 12 Aug 2009
this->curSeqPosition = 0;
this->curSequence = initSeq;
}
Expand All @@ -315,8 +315,14 @@ uint8_t VarSpeedServo::attach(int pin)
}

uint8_t VarSpeedServo::attach(int pin, int min, int max)
{
return this->attach(pin, min, max, DEFAULT_PULSE_WIDTH);
}

uint8_t VarSpeedServo::attach(int pin, int min, int max, int initialPulseWidth)
{
if(this->servoIndex < MAX_SERVOS ) {
servos[this->servoIndex].ticks = usToTicks(initialPulseWidth);
pinMode( pin, OUTPUT) ; // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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2 changes: 2 additions & 0 deletions VarSpeedServo.h
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Expand Up @@ -151,6 +151,8 @@ class VarSpeedServo
VarSpeedServo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
uint8_t attach(int pin, int min, int max, int initialPulseWidth); // as above but also sets initial pulse width.
// If you set 0, servo dose not move from initial position.
void detach();
void write(int value); // if value is < 544 its treated as an angle, otherwise as pulse width in microseconds
void write(int value, uint8_t speed); // Move to given position at reduced speed.
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