Hoe kan ik een geschutstoren 290 graden laten draaien

[Herby63]

@max z
raad eens bij welke waarden ik 290° haal?
#define SERVOMIN 83
#define SERVOMAX 467
https://youtube.com/shorts/TfyW-qIHHXM?

 

[max z]

Doel 1 bereikt! Morgen verder.......

 

[max z]

Toch nog even doorgegaan. Ik heb de 290 graden limieten voor de eerste 4 servo's ingevuld, en de equivalenten van 1000 micros en 2000 micros voor de volgende 4. De slowstep setting geldt voor beide.

volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500;
volatile byte sync = 0;
int mpcount, pulse;
int Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (int i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  sei();
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (start && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
      delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // is syncpulse
    start = true;
    mpcount = 0;
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if (Xtarget [j] - Xpulse [j] >= slowstep) Xpulse [j] += slowstep;
    else if (Xtarget [j] - Xpulse [j] <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }

}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // start loop
 
  }
}

 

[max z]

Kleine wijziging in de code gedaan.

 

[Herby63]

Toch nog even doorgegaan.

, al net zo verslaafd als ik.

Ik heb de 290 graden limieten voor de eerste 4 servo's ingevuld, en de equivalenten van 1000 micros en 2000 micros voor de volgende 4. De slowstep setting geldt voor beide.

Er gebeurt niks, geen enkele beweging

 

[max z]

Ontvanger aangesloten op pin 2?

 

[Herby63]

Ontvanger aangesloten op pin 2?

Eerst niet, maar toen ik de code bekeek, zag ik weer al die abracadabra voor het uitlezen van de code, en heb ik dus de ontvanger aangesloten op pin 2, en stroom afgetakt van de UNO, de zender aangezet en even met de potmetertjes gedraaid, geen leven in de servo's.

 

[max z]

Oei, dat valt weer tegen. Wordt dan toch morgen ben ik bang (en hoop ik...).

 

[max z]

Ik was een stukje vergeten, en heb nu de code in #143 aangepast. Nieuwe kansen........

 

[max z]

Herby, ik heb de code met de Servo_h library die ik in post #108 had staan per ongeluk overschreven met de laatste versie, en ik had 'm nog niet opgeslagen als backup. Heb jij die nog beschikbaar?
Het was de eerste versie met de input via interrupt.

 

[Herby63]

ik heb de code met de Servo_h library die ik in post #108 had staan per ongeluk overschreven met de laatste versie, en ik had 'm nog niet opgeslagen als backup. Heb jij die nog beschikbaar?

Waarschijnlijk is het onderstaande, heb ik opgeslagen op de dag van post 108. Hopelijk heb ik er niet te veel aan getweaked.

int subcount, pulse;
bool start = false;

#include <Servo.h>
Servo MPS[8]; // array of Multi Prop Servo objects

void setup() {

pinMode(2, INPUT);

Serial.begin(9600);

for (int i=0; i<8; i++) {
MPS.attach (i+5); // servo output attached to pins 5 - 12
}
}

void loop() {

pulse = pulseIn(2, HIGH); // timeout?

if (start && pulse >= 950) {
MPS[subcount-1].writeMicroseconds(pulse); // array starts at MPS[0], ends at MPS[7]
Serial.print ("MPS"); Serial.print (subcount); Serial.print (" "); Serial.print (pulse); Serial.print (" ");
subcount += 1;
if (subcount >8) {
start = false; // stop saving subchannels after 8 counts
delay(1); // only for testing the output by monitor, deactivate for servo operation
}
}

if (pulse <= 950) { // syncpulse
start = true;
subcount = 1;
Serial.println ("");
}
}

Hoe doe je dat trouwens om de code in een kadertje in te voegen?

 

[max z]

en copy/paste in het lege vak.

 

[Herby63]

Ik was een stukje vergeten, en heb nu de code in #143 aangepast.

Nog steeds geen reactie,
Controletest met de code uit post 138, om de aansluitingen te controleren is nog altijd positief.

 

[Herby63]

Test voor het publiceren van code:

volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500;
volatile byte sync = 0;
int mpcount, pulse;
int Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (int i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  sei();
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (start && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
      delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // is syncpulse
    start = true;
    mpcount = 0;
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if (Xtarget [j] - Xpulse [j] >= slowstep) Xpulse [j] += slowstep;
    else if (Xtarget [j] - Xpulse [j] <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }

}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // start loop
 
  }
}

Test geslaagd

 

[max z]

Pfoe, dat wordt lastig. Ik heb vandaag de code nog een keer nagelopen, maar ik vond geen fouten of ontbrekende zaken.......

Waarschijnlijk is het onderstaande, heb ik opgeslagen op de dag van post 108.

Daar staat de essentie in van wat ik zocht (het gebruik van de Servo library in de multiprop decoder ), maar er zou meer in moeten staan, Xtarget en Xpulse en zo...

 

[Herby63]

er zou meer in moeten staan, Xtarget en Xpulse en zo...

Deze misschien? is ook van 14/08

int mpcount, pulse, Xpulse;
int Xpulselow [ ] = {2000, 2450, 2000, 2450, 650, 650, 650, 650};
int Xpulsehigh [ ] = {1000, 550, 1000, 550, 2350, 2350, 2350, 2350};
bool start = false;

#include <Servo.h>
Servo MPS[8]; // array of Multi Prop Servo objects MPS [0] - MPS [7]

void setup() {
 
  pinMode(4, INPUT);
 
  Serial.begin(9600);

  for (int i=0; i<8; i++) {
  MPS[i].attach (i+5); // servo output attached to pins 5 - 12
  }
}

void loop() {
 
  pulse = pulseIn(4, HIGH); // timeout?

  if (start && pulse >=975) {
    Xpulse = map (pulse, 1000, 1980, Xpulselow [mpcount], Xpulsehigh [mpcount]); // extending pulse to Xpulse
  
    MPS[mpcount].writeMicroseconds(Xpulse); // array starts at MPS[0], ends at MPS[7]
    Serial.print ("MPS"); Serial.print (mpcount); Serial.print (" pulse"); Serial.print (pulse); Serial.print (" Xpulse");
    Serial.println (Xpulse);
    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
     //delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // syncpulse
    start = true;
    mpcount = 0;
    Serial.println ("");
  }
}

 

[max z]

Ik heb het variabele-type van Xtarget[] en Xpulse[] aangepast en hetzelfde gemaakt als in de test, misschien is dat het. Anders moet je eens kijken met de serial monitor wat er uitkomt voor pulse Xpulse[0] en Xtarget[0], ergens onderaan in de loop.

volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500;
volatile byte sync = 0;
int mpcount, pulse;
uint16_t Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (int i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  sei();
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (start && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
      delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // is syncpulse
    start = true;
    mpcount = 0;
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if (Xtarget [j] - Xpulse [j] >= slowstep) Xpulse [j] += slowstep;
    else if (Xtarget [j] - Xpulse [j] <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }

}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // start loop
 
  }
}

 

[Herby63]

Stom van mij, had pulsdraad aangesloten aan 2e pin, en dat is dus pin1.
Bij aansluiten op pin 2, gaan de 8 servo's bijna naar de neutraalstand, en draaien dan rustig naar de meest linkse positie.
Hoe ik ook aan de pots draai, ze blijven helemaal naar links gedraaid.

Serial monitor geeft geen kik.
Moet ik daarvoor iets toevoegen?
Baudrate staat goed, en als ik de serial monitor uitzet en weer aan, gaan de servo's in een ruk bijna terug naar neutraal en dan weer rustig naar de meest linkse positie.

 

[max z]

Baudrate staat goed, en als ik de serial monitor uitzet en weer aan, gaan de servo's in een ruk bijna terug naar neutraal en dan weer rustig naar de meest linkse positie.

Je bedoelt denk ik dat je de usb verbreekt en weer aanzet.

Code met serial monitor input:

volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500;
volatile byte sync = 0;
int mpcount, pulse;
uint16_t Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (int i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  sei();
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (start && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
      delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // is syncpulse
    start = true;
    mpcount = 0;
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if (Xtarget [j] - Xpulse [j] >= slowstep) Xpulse [j] += slowstep;
    else if (Xtarget [j] - Xpulse [j] <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }
  Serial.print ("pulse = "); Serial.println (pulse);
  Serial.print ("Xpulse[1] = "); Serial.print (Xpulse[1]); Serial.print ("    Xtarget[1] = "), Serial.println (Xtarget[1]);
}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // start loop
 
  }
}

Géén delays invoegen, dan gaat de volgorde niet goed. Gewoon af en toe de autoscroll uitzetten.

 

[Herby63]

e bedoelt denk ik dat je de usb verbreekt en weer aanzet.

nee, nee, op de IDE op de PC op dat icoontje rechtsbovenaan klikken voor de serial monitor aan te zetten.

En dit komt nu uit de serial monitor

Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1464
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1508
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1520
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1540
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1476
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1484
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1512
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1524
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1536
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1488
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1496
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1496
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1556
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1540
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 928
Xpulse[1] = 307    Xtarget[1] = 308
pulse = 1504
Xpulse[1] = 308    Xtarget[1] = 308
pulse = 1504
Xpulse[1] = 309    Xtarget[1] = 274
pulse = 1544
Xpulse[1] = 310    Xtarget[1] = 274
pulse = 920
Xpulse[1] = 311    Xtarget[1] = 274
pulse = 1464
Xpulse[1] = 312    Xtarget[1] = 274
pulse = 1520
Xpulse[1] = 313    Xtarget[1] = 281
pulse = 1536
Xpulse[1] = 314    Xtarget[1] = 281
pulse = 1520
Xpulse[1] = 315    Xtarget[1] = 281
pulse = 1460
Xpulse[1] = 316    Xtarget[1] = 281
pulse = 1512
Xpulse[1] = 317    Xtarget[1] = 281
pulse = 1512
Xpulse[1] = 318    Xtarget[1] = 281
pulse = 1524
Xpulse[1] = 319    Xtarget[1] = 281
pulse = 1484
Xpulse[1] = 320    Xtarget[1] = 281
pulse = 1512
Xpulse[1] = 321    Xtarget[1] = 281
pulse = 1524
Xpulse[1] = 322    Xtarget[1] = 281
pulse = 1464
Xpulse[1] = 323    Xtarget[1] = 281
pulse = 1484
Xpulse[1] = 324    Xtarget[1] = 281
pulse = 1508
Xpulse[1] = 325    Xtarget[1] = 281
pulse = 1524
Xpulse[1] = 326    Xtarget[1] = 281
pulse = 1556
Xpulse[1] = 327    Xtarget[1] = 281
pulse = 1496
Xpulse[1] = 328    Xtarget[1] = 281
pulse = 1516
Xpulse[1] = 329    Xtarget[1] = 281
pulse = 1496
Xpulse[1] = 330    Xtarget[1] = 281
pulse = 1552
Xpulse[1] = 331    Xtarget[1] = 281
pulse = 1544
Xpulse[1] = 332    Xtarget[1] = 281
pulse = 924
Xpulse[1] = 333    Xtarget[1] = 281
pulse = 1504
Xpulse[1] = 334    Xtarget[1] = 281
pulse = 1500
Xpulse[1] = 335    Xtarget[1] = 272
pulse = 1528
Xpulse[1] = 336    Xtarget[1] = 272
pulse = 920
Xpulse[1] = 337    Xtarget[1] = 272
pulse = 1448
Xpulse[1] = 338    Xtarget[1] = 272
pulse = 1516
Xpulse[1] = 339    Xtarget[1] = 279
pulse = 1532
Xpulse[1] = 340    Xtarget[1] = 279
pulse = 1516
Xpulse[1] = 341    Xtarget[1] = 279
pulse = 1460
Xpulse[1] = 342    Xtarget[1] = 279
pulse = 1500
Xpulse[1] = 343    Xtarget[1] = 279
pulse = 1524
Xpulse[1] = 344    Xtarget[1] = 279
pulse = 1516
Xpulse[1] = 345    Xtarget[1] = 279
pulse = 1480
Xpulse[1] = 346    Xtarget[1] = 279
pulse = 1508
Xpulse[1] = 347    Xtarget[1] = 279
pulse = 1516
Xpulse[1] = 348    Xtarget[1] = 279
pulse = 1464
Xpulse[1] = 349    Xtarget[1] = 279
pulse = 1484
Xpulse[1] = 350    Xtarget[1] = 279
pulse = 1512
Xpulse[1] = 351    Xtarget[1] = 279
pulse = 1504
Xpulse[1] = 352    Xtarget[1] = 279
pulse = 1552
Xpulse[1] = 353    Xtarget[1] = 279
pulse = 1496
Xpulse[1] = 354    Xtarget[1] = 279
pulse = 1508
Xpulse[1] = 355    Xtarget[1] = 279
pulse = 1508
Xpulse[1] = 356    Xtarget[1] = 279
pulse = 1552
Xpulse[1] = 357    Xtarget[1] = 279
pulse = 1536
Xpulse[1] = 358    Xtarget[1] = 279
pulse = 920
Xpulse[1] = 359    Xtarget[1] = 279
pulse = 1496
Xpulse[1] = 360    Xtarget[1] = 279
pulse = 1516
Xpulse[1] = 361    Xtarget[1] = 279
pulse = 1540
Xpulse[1] = 362    Xtarget[1] = 279
pulse = 932
Xpulse[1] = 363    Xtarget[1] = 279
pulse = 1464
Xpulse[1] = 364    Xtarget[1] = 279
pulse = 1504
Xpulse[1] = 365    Xtarget[1] = 274
pulse = 1540
Xpulse[1] = 366    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 367    Xtarget[1] = 274
pulse = 1464
Xpulse[1] = 368    Xtarget[1] = 274
pulse = 1496
Xpulse[1] = 369    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 370    Xtarget[1] = 274
pulse = 1516
Xpulse[1] = 371    Xtarget[1] = 274
pulse = 1496
Xpulse[1] = 372    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 373    Xtarget[1] = 274
pulse = 1516
Xpulse[1] = 374    Xtarget[1] = 274
pulse = 1460
Xpulse[1] = 375    Xtarget[1] = 274
pulse = 1496
Xpulse[1] = 376    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 377    Xtarget[1] = 274
pulse = 1524
Xpulse[1] = 378    Xtarget[1] = 274
pulse = 1552
Xpulse[1] = 379    Xtarget[1] = 274
pulse = 1484
Xpulse[1] = 380    Xtarget[1] = 274
pulse = 1508
Xpulse[1] = 381    Xtarget[1] = 274
pulse = 1492
Xpulse[1] = 382    Xtarget[1] = 274
pulse = 1552
Xpulse[1] = 383    Xtarget[1] = 274
pulse = 1540
Xpulse[1] = 384    Xtarget[1] = 274
pulse = 920
Xpulse[1] = 385    Xtarget[1] = 274
pulse = 1496
Xpulse[1] = 386    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 387    Xtarget[1] = 277
pulse = 1548
Xpulse[1] = 388    Xtarget[1] = 277
pulse = 928
Xpulse[1] = 389    Xtarget[1] = 277
pulse = 1468
Xpulse[1] = 390    Xtarget[1] = 277
pulse = 1504
Xpulse[1] = 391    Xtarget[1] = 274
pulse = 1540
Xpulse[1] = 392    Xtarget[1] = 274
pulse = 1528
Xpulse[1] = 393    Xtarget[1] = 274
pulse = 1468
Xpulse[1] = 394    Xtarget[1] = 274
pulse = 1508
Xpulse[1] = 395    Xtarget[1] = 274
pulse = 1512
Xpulse[1] = 396    Xtarget[1] = 274
pulse = 1520
Xpulse[1] = 397    Xtarget[1] = 274
pulse = 1500
Xpulse[1] = 398    Xtarget[1] = 274
pulse = 1508
Xpulse[1] = 399    Xtarget[1] = 274
pulse = 1524
Xpulse[1] = 400    Xtarget[1] = 274
pulse = 1460
Xpulse[1] = 401    Xtarget[1] = 274
pulse = 1472
Xpulse[1] = 402    Xtarget[1] = 274
pulse = 1504
Xpulse[1] = 403    Xtarget[1] = 274
pulse = 1520
Xpulse[1] = 404    Xtarget[1] = 274
pulse = 1564
Xpulse[1] = 405    Xtarget[1] = 274
pulse = 1488
Xpulse[1] = 406    Xtarget[1] = 274
pulse = 1520
Xpulse[1] = 407    Xtarget[1] = 274
pulse = 1492
Xpulse[1] = 408    Xtarget[1] = 274
pulse = 1548
Xpulse[1] = 409    Xtarget[1] = 274
pulse = 1548
Xpulse[1] = 410    Xtarget[1] = 274
pulse = 916
Xpulse[1] = 411    Xtarget[1] = 274
pulse = 1508
Xpulse[1] = 412    Xtarget[1] = 274
pulse = 1500
Xpulse[1] = 413    Xtarget[1] = 272
pulse = 1532
Xpulse[1] = 414    Xtarget[1] = 272
pulse = 920
Xpulse[1] = 415    Xtarget[1] = 272
pulse = 1464
Xpulse[1] = 416    Xtarget[1] = 272
pulse = 1508
Xpulse[1] = 417    Xtarget[1] = 276
pulse = 1540
Xpulse[1] = 418    Xtarget[1] = 276
pulse = 1520
Xpulse[1] = 419    Xtarget[1] = 276
pulse = 1460
Xpulse[1] = 420    Xtarget[1] = 276
pulse = 1496
Xpulse[1] = 421    Xtarget[1] = 276
pulse = 1528
Xpulse[1] = 422    Xtarget[1] = 276
pulse = 1528
Xpulse[1] = 423    Xtarget[1] = 276
pulse = 1480
Xpulse[1] = 424    Xtarget[1] = 276
pulse = 1508
Xpulse[1] = 425    Xtarget[1] = 276
pulse = 1516
Xpulse[1] = 426    Xtarget[1] = 276
pulse = 1460
Xpulse[1] = 427    Xtarget[1] = 276
pulse = 1484
Xpulse[1] = 428    Xtarget[1] = 276
pulse = 1516
Xpulse[1] = 429    Xtarget[1] = 276
pulse = 1516
Xpulse[1] = 430    Xtarget[1] = 276
pulse = 1556
Xpulse[1] = 431    Xtarget[1] = 276
pulse = 1492
Xpulse[1] = 432    Xtarget[1] = 276
pulse = 1512
Xpulse[1] = 433    Xtarget[1] = 276
pulse = 1500
Xpulse[1] = 434    Xtarget[1] = 276
pulse = 1568
Xpulse[1] = 435    Xtarget[1] = 276
pulse = 1532
Xpulse[1] = 436    Xtarget[1] = 276
pulse = 924
Xpulse[1] = 437    Xtarget[1] = 276
pulse = 1492
Xpulse[1] = 438    Xtarget[1] = 276
pulse = 1504
Xpulse[1] = 439    Xtarget[1] = 274
pulse = 1552
Xpulse[1] = 440    Xtarget[1] = 274
pulse = 924
Xpulse[1] = 441    Xtarget[1] = 274
pulse = 1468
Xpulse[1] = 442    Xtarget[1] = 274
pulse = 1496
Xpulse[1] = 443    Xtarget[1] = 271
pulse = 1544
Xpulse[1] = 444    Xtarget[1] = 271
pulse = 1512
Xpulse[1] = 445    Xtarget[1] = 271
pulse = 1464
Xpulse[1] = 446    Xtarget[1] = 271
pulse = 1500
Xpulse[1] = 447    Xtarget[1] = 271
pulse = 1504
Xpulse[1] = 448    Xtarget[1] = 271
pulse = 1524
Xpulse[1] = 449    Xtarget[1] = 271
pulse = 1500
Xpulse[1] = 450    Xtarget[1] = 271
pulse = 1512
Xpulse[1] = 451    Xtarget[1] = 271
pulse = 1512
Xpulse[1] = 452    Xtarget[1] = 271
pulse = 1464
Xpulse[1] = 453    Xtarget[1] = 271
pulse = 1488
Xpulse[1] = 454    Xtarget[1] = 271
pulse = 1516
Xpulse[1] = 455    Xtarget[1] = 271
pulse = 1524
Xpulse[1] = 456    Xtarget[1] = 271
pulse = 1552
Xpulse[1] = 457    Xtarget[1] = 271
pulse = 1488
Xpulse[1] = 458    Xtarget[1] = 271
pulse = 1512
Xpulse[1] = 459    Xtarget[1] = 271
pulse = 1492
Xpulse[1] = 460    Xtarget[1] = 271
pulse = 1560
Xpulse[1] = 461    Xtarget[1] = 271
pulse = 1536
Xpulse[1] = 462    Xtarget[1] = 271
pulse = 920
Xpulse[1] = 463    Xtarget[1] = 271
pulse = 1496
Xpulse[1] = 464    Xtarget[1] = 271
pulse = 1484
Xpulse[1] = 465    Xtarget[1] = 266
pulse = 1548
Xpulse[1] = 466    Xtarget[1] = 266
pulse = 916
Xpulse[1] = 467    Xtarget[1] = 266
pulse = 1464
Xpulse[1] = 468    Xtarget[1] = 266
pulse = 1500
Xpulse[1] = 469    Xtarget[1] = 272
pulse = 1536

 

[max z]

als ik de serial monitor uitzet en weer aan, gaan de servo's in een ruk bijna terug naar neutraal en dan weer rustig naar de meest linkse positie.

Dat is heel vreemd, het gedrag duidt er op dat de code weer van voren af begint, want in de setup sectie worden Xpulse en Xtarget op neutraal gezet. Dat gebeurt normaal niet door het aan- en uitzetten van de monitor.

Ik had de serial print commando's niet erg strategisch geplaatst. Ik heb ze nu verplaatst, zodat je de inkomende puls registreert, de daaruit berekende Xtarget en de actuele waarde van Xpulse, die daar langzaam naar toe zou moeten bewegen.

volatile unsigned long timer; // all timer variables are unsigned long
volatile int inpulse =  1500;
volatile byte sync = 0;
int mpcount, pulse;
uint16_t Xtarget [8], Xpulse[8];
const int slowstep = 1;
const int Xtargetlow [] = {83, 83, 83, 83, 205, 205, 205, 205};
const int Xtargethigh [] = {467, 467, 467, 467, 410, 410, 410, 410};
bool start = false, RxchWas = false;

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

// called this way, it uses the default address 0x40
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

void setup() {
 
  attachInterrupt(0, read_pwm, CHANGE); // Pin 2 = interrupt 0
  pinMode(2, INPUT);
 
  Serial.begin(9600);
 
  pwm.begin();

  pwm.setOscillatorFrequency(27000000);
  pwm.setPWMFreq(50); // 50Hz, frame length 20 millis

  for (int i=0; i<8; i++) {
    Xtarget [i] = 308; // equivalent of 1500 micros
    Xpulse [i] = 308;
  }

  delay(10);
}

void loop() {
 
  while (sync == 0); // ISR sets sync to true when reading Rx pulse is complete, loop starts.
  sync = 0; // stops loop after one run.
 
  delay (6); // do an atomic copy, delayed to midframe to reduce jitter
  cli();
  pulse = inpulse;
  sei();
 
  Serial.print ("pulse = "); Serial.println (pulse);
 
  // read next 8 incoming pulses, triggered by a syncpulse, map to extended range and save in array Xtarget []
 
  if (start && pulse >=1000) {
    Xtarget [mpcount] = map (pulse, 1030, 1980, Xtargetlow [mpcount], Xtargethigh [mpcount]); // extending pulse to Xtarget

    Serial.print ("Xpulse[] = "); Serial.print (Xpulse[mpcount]); Serial.print ("    Xtarget[] = "), Serial.println (Xtarget[mpcount]);

    mpcount += 1;
    if (mpcount >7) {
      start = false; // stop saving subchannels after 8 counts
      delay(500); // only for testing the output by monitor, deactivate for servo operation
    }
  }
 
  if (pulse >= 850 && pulse <950) { // is syncpulse
    start = true;
    mpcount = 0;
  }

  // update all servo outputs with or without changed targets, maximum step is slowstep setting
 
  for (uint8_t j=0; j<8; j++) {
    if (Xtarget [j] - Xpulse [j] >= slowstep) Xpulse [j] += slowstep;
    else if (Xtarget [j] - Xpulse [j] <= -slowstep) Xpulse [j] -= slowstep;
    else Xpulse [j] = Xtarget [j];
    pwm.setPWM(j, 0, Xpulse [j]); // LOW>HIGH at 0, HIGH>LOW at pulselen
  }
 
}

void read_pwm(){
  if (RxchWas == 0) { // if pin 2 was false previously
    timer = micros(); // start timer
    RxchWas = 1;
  }
  else if (RxchWas == 1) { // if pin 2 was already true, read timer
    inpulse = ((volatile int)micros() - timer);
    RxchWas = 0;
    sync = 1; // start loop
 
  }
}