Comments on: Servo Trajectory Controller for Arduino

By: Ton Toonen

Ton Toonen — Sun, 16 Feb 2025 14:04:14 +0000

Thank you very much for the answer to my question.
I have used your library for programming the Joy_IT robot arm. (6 servo motors)
Velocity, Acceleration, Deceleration works independently for all axes perfectly.
Thank you very much for this, you have done a great job.
Kind regards,
Ton Toonen

By: Simon Bluett

Simon Bluett — Thu, 06 Feb 2025 06:09:24 +0000

In reply to Ton Toonen. Yes it is possible to use this with the PCA9685. For each output you intend to use you can create a separate trajectory controller object, and then each time the trajectory is updated, send the new output values to the PCA9685 controller.

By: Ton Toonen

Ton Toonen — Tue, 04 Feb 2025 09:07:41 +0000

Is it possible to use this library in combination with the PCA9685 16-channel I2C PWM-Servo module

By: Simon Bluett

Simon Bluett — Wed, 13 Sep 2023 16:57:28 +0000

In reply to Alex.

You can use millis() instead of delay(): https://arduinogetstarted.com/faq/how-to-use-millis-instead-of-delay

By: Alex

Alex — Tue, 12 Sep 2023 21:23:31 +0000

How would one delay or add pauses between motions / moves without stoping the serial output. For example an input trigger, wait 6 secs before starting then do something wait a second then do the next thing. Delay stops serial output. Thanks

By: Simon Bluett

Simon Bluett — Sun, 02 Apr 2023 20:34:18 +0000

In reply to Joseph. Create additional instances of the object, one for each servo. For example:

Trajectory servo1Trajectory(60, 40, 34);
Trajectory servo2Trajectory(30, 20, 15);

And then call the "setTargetPostion" and "update" functions for each servo separately.

By: Joseph

Joseph — Sun, 02 Apr 2023 19:03:16 +0000

how could i get this to work with more than 1 servo?

By: Pat

Pat — Fri, 08 Apr 2022 10:25:06 +0000

Awesome!
Exaclty what I needed for my door opener servo.

By: SarahC

SarahC — Sat, 30 Oct 2021 06:48:28 +0000

I made a little visualiser showing the velocity and angle… the sliders change the chart in realtime:
https://codepen.io/SarahC/pen/MWvYVbr?editors=0010

By: Simon Bluett

Simon Bluett — Sat, 10 Apr 2021 16:11:26 +0000

In reply to Nico. Hi, it's great to hear that you like the post. Yes I would be happy to write a tutorial showing how the code works once I get the time; I have a couple of other posts in the works which I would like to finish first!