/*
Slow Servo Movements
based on request of https://forum.arduino.cc/t/i-want-the-servo-to-be-slower-how-do-i-control-the-speed-of-the-servo-servo-speed-control/1012695/
by noiasca https://werner.rothschopf.net/microcontroller/202207_millis_slow_servo.htm
2022-07-15
*/
#include <Servo.h>
constexpr uint8_t openPin = 4; // open door
constexpr uint8_t closePin = 3; // force close
constexpr uint8_t servoPin = 8; // GPIO for Servo
// make your own servo class
class SlowServo {
protected:
uint16_t target = 90; // target angle
uint16_t current = 90; // current angle
uint8_t interval = 50; // delay time
uint32_t previousMillis = 0;
public:
Servo servo;
void begin(byte pin)
{
servo.attach(pin);
}
void setSpeed(uint8_t newSpeed)
{
interval = newSpeed;
}
void set(uint16_t newTarget)
{
target = newTarget;
}
void update()
{
if (millis() - previousMillis > interval)
{
previousMillis = millis();
if (target < current)
{
current--;
servo.write(current);
}
else if (target > current)
{
current++;
servo.write(current);
}
}
}
};
SlowServo myservo; // create a servo object
void setup() {
Serial.begin(115200);
myservo.begin(servoPin); // start the servo object
pinMode(openPin, INPUT_PULLUP);
pinMode(closePin, INPUT_PULLUP);
}
void doorOpen()
{
Serial.println(F("open"));
myservo.set(90);
//myservo.servo.write(90); // hardcoded write
}
void doorClose()
{
Serial.println(F("close"));
myservo.set(0);
// myservo.servo.write(0); // hardcoded write
}
void loop() {
if (digitalRead(openPin) == LOW)
{
doorOpen();
}
if (digitalRead(closePin) == LOW)
{
doorClose();
}
myservo.update(); // call the update method in loop
}