Servo Sequencer

Servo Sequencer works in conjunction with ServoDispatcher. The sequence is held on a matrix, each line representing a step. The first entry is the length of the step in centiseconds (1/100th of a second). The bitmap representing on/off for each servo in order in the target servo group.

#include "ReelTwo.h"
#include "ServoDispatchPCA9685.h"
#include "ServoSequencer.h"
 
#define SMALL_PANEL        0x0001
#define MEDIUM_PANEL       0x0002
#define BIG_PANEL          0x0004
#define PIE_PANEL          0x0008
#define TOP_PIE_PANEL      0x0010
#define MINI_PANEL         0x0020
 
#define HOLO_HSERVO        0x1000
#define HOLO_VSERVO        0x2000
 
#define DOME_PANELS_MASK        (SMALL_PANEL|MEDIUM_PANEL|BIG_PANEL)
#define PIE_PANELS_MASK         (PIE_PANEL)
#define ALL_DOME_PANELS_MASK    (MINI_PANEL|DOME_PANELS_MASK|PIE_PANELS_MASK|TOP_PIE_PANEL)
#define HOLO_SERVOS_MASK        (HOLO_HSERVO|HOLO_VSERVO)
 
const ServoSettings servoSettings[] PROGMEM = {
    { 1,  1000, 1650, SMALL_PANEL    },  /* 0: door 4 */
    { 2,  1500, 2300, SMALL_PANEL    },  /* 1: door 3 */
    { 4,   900, 1650, SMALL_PANEL    },  /* 2: door 2 */
    { 6,  1200, 1900, SMALL_PANEL    },  /* 3: door 1 */
    { 17, 1200, 2000, MEDIUM_PANEL   },  /* 4: door 5 */
    { 9,  1200, 2000, BIG_PANEL      },  /* 5: door 9 */
    { 8,  1275, 1975, MINI_PANEL     },  /* 6: mini door 2 */
    { 7,  1550, 1900, MINI_PANEL     },  /* 7: mini front psi door */
    { 3,  1250, 1900, PIE_PANEL      },  /* 8: pie panel 1 */
    { 10, 1075, 1700, PIE_PANEL      },  /* 9: pie panel 2 */
    { 11, 1200, 2000, PIE_PANEL      },  /* 10: pie panel 3 */
    { 12,  750, 1450, PIE_PANEL      },  /* 11: pie panel 4 */
    { 5,  1250, 1850, TOP_PIE_PANEL  },  /* 12: dome top panel */
    { 13,  800, 1600, HOLO_HSERVO    },  /* 13: horizontal front holo */
    { 14,  800, 1800, HOLO_VSERVO    },  /* 14: vertical front holo */
    { 15,  800, 1600, HOLO_HSERVO    },  /* 15: horizontal top holo */
    { 16,  800, 1325, HOLO_VSERVO    },  /* 16: vertical top holo */
    { 25,  900, 1000, HOLO_VSERVO    },  /* 17: vertical rear holo */
    { 26, 1300, 1600, HOLO_HSERVO    },  /* 18: horizontal rear holo */
};
 
ServoDispatchPCA9685<SizeOfArray(servoSettings)> servoDispatch(servoSettings);
ServoSequencer servoSequencer(servoDispatch);
 
static const ServoSequence sMySeqPanelAllOpen PROGMEM =
{
    { 20,   B00000000, B00000000, B00000000, B00000000 },
    { 300,  B11111111, B11000000, B00000000, B00000000 },
    { 150,  B00000000, B00000000, B00000000, B00000000 },
};
 
void setup()
{
    REELTWO_READY();
 
    SetupEvent::ready();
 
    servoSequencer.play(sMySeqPanelAllOpen, SizeOfArray(sMySeqPanelAllOpen), (DOME_PANELS_MASK | PIE_PANELS_MASK));
}
 
void loop()
{
    AnimatedEvent::process();
}

Collaboration diagram for Servo Sequencer: