/*
Controls three servos with different easing settings
New position command after normalized output (ye) reaches set value.
https://wokwi.com/projects/361237697368753153
by dlloydev, March 2023.
⚪ The green servo moves from 0 to 90 deg at 70 deg/s with linear motion.
⚪ The orange servo moves from 0 to 180 deg at 140 deg/s with sigmoid motion.
⚪ The purple servo moves from 45 to 135 deg at 180 deg/s with steep sigmoid motion.
*/
#include <Servo.h>
const int servoPin1 = 18;
const int servoPin2 = 19;
const int servoPin3 = 21;
// units in degrees per second
float speed1 = 70.0;
float speed2 = 140.0;
float speed3 = 180.0;
// When easing constant (ke) < 1.0, return value is normalized, when 1.0, returns pulse width (μs)
// ke = 0.0 is linear, between 0.0 and 1.0 is tunable sigmoid, 1.0 is normal response
// Normalized Tunable Sigmoid: https://www.desmos.com/calculator/ejkcwglzd1
float ke1 = 0.0;
float ke2 = 0.6;
float ke3 = 0.8;
// go to position (degrees)
uint8_t pos1 = 90;
uint8_t pos2 = 180;
uint8_t pos3 = 135;
float ye1, ye2, ye3;
Servo myservo = Servo();
void setup() {
Serial.begin(115200);
}
void loop() {
if (ye1 <= 0.0 ) pos1 = 90;
else if (ye1 >= 1.0) pos1 = 0;
if (ye2 <= 0.0 ) pos2 = 180;
else if (ye2 >= 1.0) pos2 = 0;
if (ye3 <= 0.0 ) pos3 = 135;
else if (ye3 >= 1.0) pos3 = 45;
ye1 = myservo.write(servoPin1, pos1, speed1, ke1);
ye2 = myservo.write(servoPin2, pos2, speed2, ke2);
ye3 = myservo.write(servoPin3, pos3, speed3, ke3);
Serial.print(ye1);
Serial.print(",");
Serial.print(ye2);
Serial.print(",");
Serial.println(ye3);
delay(6);
}
Easing OFF, ke = 1.0