PmWiki | THS / Demo program for PWM & Servo Control

// Servo & PWM Demo Program using a couple of functions

// Rhine Jan 23, 2010

// Definitions and Included Libraries...

#include <Servo.h>
#define GreenLED 11
#define RedLED 3
#define pressed 0 //OV on IO pin when pressed
#define not_pressed 1 //+5V on IO pin when not pressed
#define red_button 8
#define green_button 7
#define safe (digitalRead(red_button) == not_pressed)
#define on 1
//Global Variable Declarations and Initialization

void setup() //"Main Program"
{
//Local Variable Declarations and Initialization

  int counter;
  long timer;
  Servo prettyservo_9; //declare a new variable of type Servo 
  prettyservo_9.attach(9); //I'm plugging into PWM I/O pin 9 
  Serial.begin(9600);

//Start of main program

  // Note that the ultrabright red LED is so bright that you probably won't
  // be  able to see the effects of pwm dimming until you get down to 25% or 10%
  // You'll see the effects on the the normal green LED at all levels

if (safe) Serial.println("\n Demo #1 - controlling LED using PWM 'dimmer' \n\n");

  counter = 250;
  while ((counter >= 0) && safe)
    {
     analogWrite(RedLED,counter);
     analogWrite(GreenLED,counter);
     Serial.print(counter);
     Serial.print(" PWM = ");
     Serial.print((counter * 100 / 255));
     Serial.print("% duty cycle \n");
     counter = counter - 10;
     timer = millis();
     while (((millis() < (timer + 500)) && safe));  // safe timer
    }

if (safe) Serial.println("\n Demo #2 - controlling servos and LEDs using functions \n");

  if (safe)
    { Serial.println("1. Green LED on at D=75%, blink 1X  \n");
      blinker(GreenLED, 75, 1, true, prettyservo_9); 
    }
  if (safe)
    { Serial.println("2. Servo to 90 deg; Turn red on, D=75%, 2 sec \n");
      Servo_set_timed_LED(prettyservo_9, 90, RedLED, 10, 2); 
    }
  if (safe)
    {
      Serial.println("3. Green LED on at D=50%, blink 3X \n"); 
      blinker(GreenLED, 50, 3, true, prettyservo_9); 
    }
  if (safe)
    { Serial.println("4. Servo to 0 deg; Turn red on, D=50%, 4 sec  \n"); 
      Servo_set_timed_LED(prettyservo_9, 0, RedLED, 50, 3); 
    }
  if (safe)
    { Serial.println("5. Green LED on at D=25%, blink 5X \n"); 
      blinker(GreenLED, 25, 5, true, prettyservo_9); 
    }
  if (safe)
    { Serial.println("6. Servo to 180 deg, Turn red on D=25%, 6 sec \n"); 
      Servo_set_timed_LED(prettyservo_9, 180, RedLED, 25, 6); 
    }
  if (safe)
    { Serial.println("7. Green LED on at D=10%, blink 7X \n"); 
      blinker(GreenLED, 10, 7, true, prettyservo_9); 
    }
  if (safe)
    { Serial.println("8. Red LED on at 10% for 8 sec; Sweep servo back-and-forth (0 - 180 deg) 8X \n"); 
      Serial.println("  Note:  is half a second long enough to move servo from 0 to 180?"); 
      analogWrite(RedLED, 25);
      blinker(0, 180, 8, false, prettyservo_9); 
    }
  if (safe)
    { Serial.println("9. Turn red on, D=100%, End of program. \n"); 
      analogWrite(RedLED, 255);
    }

// Capture and handle unsafe condition here!

  if (!safe)
    { analogWrite(RedLED,0);
      analogWrite(GreenLED,0);
      Serial.println("\n\n Warning! Unsafe condition detected! \n");
      counter = 1;
      timer = millis();
      while (counter < 43)
        {
          if ((millis() > (timer + 250)))
            { analogWrite(RedLED,((counter%2)*220 + 25));
              if (!(counter%10)) Serial.println("Call");
              else if ((counter > 2) && !((counter-2)%10)) Serial.println("Security! \n");
              counter++;
              timer = millis();
            }
        }
      Serial.println("Unsafe program end! \n");
    }

}

void loop() {} //never use..create your own in "main"

boolean blinker(int pin, int PowerLevel, int n, boolean pwm, Servo servo_num)
/* Function "blinker10X" blinks a user-specified LED 10 times (1 Hz, 50% duty cycle)

    at a user-specified PowerLevel.  Alternatively, moves a servo back and forth 10 times.

    Input Parameters:
      pin:  integer value representing a digital IO pin with an LED or servo attached
      PowerLevel: 
            if LED...integer value from 0 to 100 (i.e., %) (converted to 0 - 255 PWM)
            if Servo...0 to 180 (degrees)
      n:    Number of times to blink LED or sweep servo
      pwm: 1 = PWM, 0 = Servo  
    Return Parameter - booloean - 1 (true) if safe, 0 otherwise)   

   Note:  user should #define any desired global safe conditions at 
          beginning of program (if none, #define safe 1)

*/
{

  int counter = 1;
  long timer;

  if (!pwm && safe) servo_num.write(0);
  timer = millis();
  while ((counter <= (2 * n)) && safe)
    {
      if ((millis() > (timer + 500)) && safe)
        {
          if (pwm && safe) analogWrite(pin,(counter%2)*(255 * PowerLevel / 100)); //when count is even, PWM dims
          else if (safe) servo_num.write((counter%2)*PowerLevel);
          counter++;
          timer = millis();
        }
    }
  if (safe) 
    return(1);
  else 
    return(0);
 }

boolean Servo_set_timed_LED(Servo servo_num, int position, int pin, int PowerLevel, int time)
/* Function "Servo_set_&_timed_pwm_LED" sets a servo to a user specified position, then

    turns on an LED for a specified period of time and PWM power level.

    Input Parameters:
      position: integer value representing postion of servo
      pin: integer value representing a digital IO pin with an LED 
      PowerLevel: 
          if LED...integer value from 0 to 100 (i.e., %) (converted to 0 - 255 PWM)
          if Servo...0 to 180 (degrees)
     time: time for LED to remain on in seconds  
    Return Parameter - booloean - 1 (true) if safe, 0 otherwise)   

    Note:  user should #define any desired global safe conditions at 
           beginning of program (if none, #define safe 1)

*/
{

  long timer = millis();

  if (safe)
    {
      servo_num.write(position);
      analogWrite(pin, (255 * PowerLevel / 100));  
    }
  while (((millis() < (timer + time*1000)) && safe));  // safe timer
  analogWrite(pin,0);    

  if (safe) 
    return(1);
  else 
    return(0);

}