Servos!

In this exercise we were learning how to control servos. We used one servo as is and another that had been hacked to disable it's internal potentiometer. We used a button to switch between them and an off state. Leds show which is enabled.




Here is the code used:


#include <Servo.h>

Servo constant;
Servo angle;

const int ledOff = 6;
const int ledServoCon = 10;
const int ledServoAngle = 3;
const int buttonPin = 2;
const int potPin = A0;
int potValue = 0;
int buttonState = 0;
int buttonPressed = 0;
int ledCount = 0;
int dir = 0;

void setup() {
 
  Serial.begin(9600);
  constant.attach(11);//pins 9 and 10 don't work with servos
  angle.attach(5);
  pinMode(ledOff,OUTPUT);
  pinMode(ledServoCon, OUTPUT);
  pinMode(ledServoAngle, OUTPUT);
  pinMode(buttonPin, INPUT);
  digitalWrite(buttonPin, HIGH);
}

void loop() {
 
   buttonPressed = digitalRead(buttonPin);
   buttonPressed = map(buttonPressed,0,1,1,0);//we want a 1 when it's pressed, so we used map to reverse the inputs
   if(buttonPressed==1){
     buttonState ++;//every time we push the button we increase the button state by 1
     delay(500);//make sure we don't push the button to many times by keeping our finger there too long
   }
   if(buttonState>=3){
     buttonState = 0;
   }
 
   if(buttonState==0){
     digitalWrite(ledServoCon,LOW);
     digitalWrite(ledServoAngle,LOW);
     constant.detach();
     angle.detach();
   
     if(ledCount<=0){
       dir = 2;//double time
     }
     else if(ledCount>=255){
       dir = -2;
     }
     ledCount += dir;
     analogWrite(ledOff,ledCount);//right now this variable will keep the led brightness next time this is activated.
     Serial.println(ledCount);
   }
   else if(buttonState==1){
     digitalWrite(ledOff, LOW);
     digitalWrite(ledServoCon, HIGH);
     digitalWrite(ledServoAngle, LOW);
     constant.attach(11);//because we detach this in our other loops we have to reattach it here.
     constant.write(1);
     angle.detach();
   
   }
   else if(buttonState==2){
     digitalWrite(ledOff, LOW);
     digitalWrite(ledServoCon, LOW);
     digitalWrite(ledServoAngle, HIGH);
     constant.detach();
     angle.attach(5);
   
     potValue = analogRead(potPin); //get value from potentiometer
     Serial.println(potValue);
 //    delay(500);
     potValue = map(potValue,0,1023,0,179);
     angle.write(potValue);
     potValue = map(potValue, 0,179,0,255);
     analogWrite(ledServoAngle, potValue);
     Serial.println(potValue);
   
   }
   
   Serial.print(buttonPressed);
   Serial.print("   ");
   Serial.println(buttonState);
 
   constant.write(179);
 
}