SAMD- Platform enhancement. Trying what I think is basic example and it does not seem to move the servo

[vkbrihma]

Hey!

So I am trying to use the library to move the servo in a non-blocking manner. I was able to get the blocking code of easeTo to work but when I changed to startEaseTo it did not seem to work. Here is is the code I am testing.

#include

include "ServoEasing.h"

define VERSION_EXAMPLE "1.4"

define INFO // to see serial output of loop

const int SERVO1_PIN = 9; const int SERVO1_MAX = 170; const int SERVO1_MIN = 110;

if !defined(LED_BUILTIN) && !defined(ESP32)

define LED_BUILTIN PB1

endif

ServoEasing Servo1;

void setup() { pinMode(LED_BUILTIN, OUTPUT); Serial.begin(115200);

if defined(__AVR_ATmega32U4__)

while (!Serial); //delay for Leonardo, but this loops forever for Maple Serial

endif

if defined(SERIAL_USB)

delay(2000); // To be able to connect Serial monitor after reset and before first printout

endif

// Just to know which program is running on my Arduino
Serial.println(F("START " __FILE__ "\r\nVersion " VERSION_EXAMPLE " from " __DATE__));

// Attach servo to pin
Serial.print(F("Attach servo at pin "));
Serial.println(SERVO1_PIN);
if (Servo1.attach(SERVO1_PIN) == INVALID_SERVO) {
    Serial.println(F("Error attaching servo"));
}

/**************************************************
 * Set servos to start position.
 * This is the position where the movement starts.
 *************************************************/
Serial.print(F("before first position "));
Servo1.write(SERVO1_MIN);
Serial.print(F("after first position "));
// Wait for servo to reach start position.
delay(500);

}

void blinkLED() { digitalWrite(LED_BUILTIN, HIGH); delay(100); digitalWrite(LED_BUILTIN, LOW); delay(100); }

void loop() { // put your main code here, to run repeatedly: //Servo1.setSpeed(10); // This speed is taken if no further speed argument is given. Servo1.setEasingType(EASE_CUBIC_IN_OUT); Serial.print(F("before first ease ")); Servo1.startEaseTo(SERVO1_MAX, 50); while (areInterruptsActive()) { Serial.print(F("in easing ")); ; // wait for servo to stop }

Serial.print(F("after first ease ")); delay(7000); // Servo1.startEaseTo(SERVO1_MIN, 50); // delay(7000);

}`

I updated to the latest 1.5.2 and do not get any errors on compiling

[ArminJo]

Hi, does the example OneServo run successful for you?

[vkbrihma]

It gets up to the 45 degree rotation and stops

[ArminJo]

Which board, which pin, which IDE?

[vkbrihma]

Pin 9 using the mkr-wifi-1010

[ArminJo]

Please try the new version from the repository ang give feedback.

[vkbrihma]

0 to 90 works then it stops

`Sketch uses 38364 bytes (14%) of program storage space. Maximum is 262144 bytes. Atmel SMART device 0x10010005 found Device : ATSAMD21G18A Chip ID : 10010005 Version : v2.0 [Arduino:XYZ] Mar 19 2018 09:45:14 Address : 8192 Pages : 3968 Page Size : 64 bytes Total Size : 248KB Planes : 1 Lock Regions : 16 Locked : none Security : false Boot Flash : true BOD : true BOR : true Arduino : FAST_CHIP_ERASE Arduino : FAST_MULTI_PAGE_WRITE Arduino : CAN_CHECKSUM_MEMORY_BUFFER Erase flash done in 0.705 seconds

Write 38524 bytes to flash (602 pages)

[=== ] 10% (64/602 pages) [====== ] 21% (128/602 pages) [========= ] 31% (192/602 pages) [============ ] 42% (256/602 pages) [=============== ] 53% (320/602 pages) [=================== ] 63% (384/602 pages) [====================== ] 74% (448/602 pages) [========================= ] 85% (512/602 pages) [============================ ] 95% (576/602 pages) [==============================] 100% (602/602 pages) done in 0.204 seconds

Verify 38524 bytes of flash with checksum. Verify successful done in 0.036 seconds CPU reset.`

[ArminJo]

Hi, if you want you can try to change 3 lines in ServoEasing.cpp GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK1 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)); // GCLK1=32kHz, GCLK0=48Mhz to GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | **GCLK_CLKCTRL_GEN_GCLK0** | GCLK_CLKCTRL_ID(GCM_TC4_TC5)); // GCLK1=32kHz, GCLK0=48Mhz and

TC5->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; to TC5->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1024 | TC_CTRLA_ENABLE;

and TC5->COUNT16.CC[0].reg = (uint16_t) ((32768 / 50) - 1); to TC5->COUNT16.CC[0].reg = (uint16_t) ((SystemCoreClock/1024) / 50 - 1);

This changes the clock source.

[vkbrihma]

Going to switch to an ESP32 and see if I can get it working there first

[ArminJo]

I ordered a SAMD board, but until it arrives I am not able to test the SAMD version.

[ArminJo]

Fixed 😀