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This library enables you to use 1 Hardware Timer on ESP32-based board to control 16 or more servo motors. Now supporting ESP32, ESP32_S2, ESP32_S3, ESP32_C3-based boards. Tested OK with ESP32 core v2.0.5

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ESP32_ISR_Servo Library

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Table of Contents

Important Change from v1.3.0

Please use the new v1.3.0+ for ESP32 core v2.0.1+, or the library won't work anymore.

Important Change from v1.2.0

Please have a look at HOWTO Fix Multiple Definitions Linker Error

Why do we need this ESP32_ISR_Servo library

Features

Imagine you have a system with a mission-critical function controlling a robot arm or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().

So your function might not be executed, and the result would be disastrous.

You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).

The correct choice is to use a Hardware Timer with Interrupt to call your function.

These hardware timers, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software timers using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.

Functions using normal software timers, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.

This library enables you to use 1 Hardware Timer on an ESP32, ESP32_S2, ESP32_C3-based board to control up to 16 independent servo motors.

Important Notes about using ISR

  1. Inside the attached function, delay() won’t work and the value returned by millis() will not increment. Serial data received while in the function may be lost. You should declare as volatile any variables that you modify within the attached function.

  2. Typically global variables are used to pass data between an ISR and the main program. To make sure variables shared between an ISR and the main program are updated correctly, declare them as volatile.

  3. Avoid using Serial.print()-related functions inside ISR. Just for temporary debug purpose, but even this also can crash the system any time. Beware.

  4. Your functions are now part of ISR (Interrupt Service Routine), and must be lean / mean, and follow certain rules. More to read on:

HOWTO Attach Interrupt

Currently supported Boards

This ESP32_ISR_Servo library currently supports these following boards:

  1. ESP32 boards, such as ESP32_DEV, etc.
  2. ESP32S2-based boards, such as ESP32S2_DEV, ESP32_S2 Saola, Adafruit QTPY_ESP32S2, etc.
  3. ESP32C3-based boards, such as ESP32C3_DEV, etc. New
  4. ESP32_S3 (ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, FEATHER_ESP32S3_NOPSRAM and QTPY_ESP32S3_NOPSRAM, etc.) New

Prerequisites

  1. Arduino IDE 1.8.19+ for Arduino. GitHub release
  2. ESP32 Core 2.0.5+ for ESP32-based boards. Latest release

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for ESP32_ISR_Servo, then select / install the latest version. You can also use this link arduino-library-badge for more detailed instructions.

Manual Install

Another way to install is to:

  1. Navigate to ESP32_ISR_Servo page.
  2. Download the latest release ESP32_ISR_Servo-master.zip.
  3. Extract the zip file to ESP32_ISR_Servo-master directory
  4. Copy whole ESP32_ISR_Servo-master folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

  1. Install VS Code
  2. Install PlatformIO
  3. Install ESP32_ISR_Servo library by using Library Manager. Search for ESP32_ISR_Servo in Platform.io Author's Libraries
  4. Use included platformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples at Project Configuration File

HOWTO Fix Multiple Definitions Linker Error

The current library implementation, using xyz-Impl.h instead of standard xyz.cpp, possibly creates certain Multiple Definitions Linker error in certain use cases.

You can include this .hpp file

// Can be included as many times as necessary, without `Multiple Definitions` Linker Error
#include "ESP32_ISR_Servo.hpp"     //https://github.com/khoih-prog/ESP32_ISR_Servo

in many files. But be sure to use the following .h file in just 1 .h, .cpp or .ino file, which must not be included in any other file, to avoid Multiple Definitions Linker Error

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "ESP32_ISR_Servo.h"           //https://github.com/khoih-prog/ESP32_ISR_Servo

Check the new multiFileProject example for a HOWTO demo.

Have a look at the discussion in Different behaviour using the src_cpp or src_h lib #80

HOWTO Use analogRead() with ESP32 running WiFi and/or BlueTooth (BT/BLE)

Please have a look at ESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example to have more detailed description and solution of the issue.

1. ESP32 has 2 ADCs, named ADC1 and ADC2

2. ESP32 ADCs functions

  • ADC1 controls ADC function for pins GPIO32-GPIO39
  • ADC2 controls ADC function for pins GPIO0, 2, 4, 12-15, 25-27

3.. ESP32 WiFi uses ADC2 for WiFi functions

Look in file adc_common.c

In ADC2, there're two locks used for different cases:

  1. lock shared with app and Wi-Fi: ESP32: When Wi-Fi using the ADC2, we assume it will never stop, so app checks the lock and returns immediately if failed. ESP32S2: The controller's control over the ADC is determined by the arbiter. There is no need to control by lock.

  2. lock shared between tasks: when several tasks sharing the ADC2, we want to guarantee all the requests will be handled. Since conversions are short (about 31us), app returns the lock very soon, we use a spinlock to stand there waiting to do conversions one by one.

adc2_spinlock should be acquired first, then adc2_wifi_lock or rtc_spinlock.

  • In order to use ADC2 for other functions, we have to acquire complicated firmware locks and very difficult to do
  • So, it's not advisable to use ADC2 with WiFi/BlueTooth (BT/BLE).
  • Use ADC1, and pins GPIO32-GPIO39
  • If somehow it's a must to use those pins serviced by ADC2 (GPIO0, 2, 4, 12, 13, 14, 15, 25, 26 and 27), use the fix mentioned at the end of ESP_WiFiManager Issue 39: Not able to read analog port when using the autoconnect example to work with ESP32 WiFi/BlueTooth (BT/BLE).

More useful Information

ESP32 Hardware Timers

  • The ESP32 has two timer groups, each one with two general purpose hardware timers.
  • All the timers are based on 64-bit counters and 16-bit prescalers.
  • The timer counters can be configured to count up or down and support automatic reload and software reload.
  • They can also generate alarms when they reach a specific value, defined by the software.
  • The value of the counter can be read by the software program.

New functions

// returns last position in degrees if success, or -1 on wrong servoIndex
int getPosition(unsigned servoIndex);

// returns pulseWidth in microsecs (within min/max range) if success, or 0 on wrong servoIndex
unsigned int getPulseWidth(unsigned servoIndex);

What special in this ESP32_ISR_Servo library

Now these new 16 ISR-based Servo controllers just use one ESP32 Hardware Timer. The number 16 is just arbitrarily chosen, and depending on application, you can increase that number to 32, 48, etc. without problem.

The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers

Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The MultipleServos example, which controls 6 servos independently, will demonstrate the nearly perfect accuracy. Being ISR-based servo controllers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

You'll see blynkTimer Software is blocked while system is connecting to WiFi / Internet / Blynk, as well as by blocking task in loop(), using delay() function as an example. The elapsed time then is very unaccurate

HOWTO Usage

How to use:

#ifndef ESP32
  #error This code is designed to run on ESP32 platform, not Arduino nor ESP8266! Please check your Tools->Board setting.
#endif

#define TIMER_INTERRUPT_DEBUG       1
#define ISR_SERVO_DEBUG             1

// Select different ESP32 timer number (0-3) to avoid conflict
#define USE_ESP32_TIMER_NO          3

// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "ESP32_ISR_Servo.h"

//See file .../hardware/espressif/esp32/variants/(esp32|doitESP32devkitV1)/pins_arduino.h
#if !defined(LED_BUILTIN)
  #define LED_BUILTIN       2         // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#endif

#define PIN_LED           2         // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED

#define PIN_D0            0         // Pin D0 mapped to pin GPIO0/BOOT/ADC11/TOUCH1 of ESP32
#define PIN_D1            1         // Pin D1 mapped to pin GPIO1/TX0 of ESP32
#define PIN_D2            2         // Pin D2 mapped to pin GPIO2/ADC12/TOUCH2 of ESP32
#define PIN_D3            3         // Pin D3 mapped to pin GPIO3/RX0 of ESP32
#define PIN_D4            4         // Pin D4 mapped to pin GPIO4/ADC10/TOUCH0 of ESP32
#define PIN_D5            5         // Pin D5 mapped to pin GPIO5/SPISS/VSPI_SS of ESP32
#define PIN_D6            6         // Pin D6 mapped to pin GPIO6/FLASH_SCK of ESP32
#define PIN_D7            7         // Pin D7 mapped to pin GPIO7/FLASH_D0 of ESP32
#define PIN_D8            8         // Pin D8 mapped to pin GPIO8/FLASH_D1 of ESP32
#define PIN_D9            9         // Pin D9 mapped to pin GPIO9/FLASH_D2 of ESP32

// Published values for SG90 servos; adjust if needed
#define MIN_MICROS      800  //544
#define MAX_MICROS      2450

int servoIndex1  = -1;
int servoIndex2  = -1;

void setup()
{
  Serial.begin(115200);
  while (!Serial);

  delay(200);

  Serial.print(F("\nStarting ISR_MultiServos on ")); Serial.println(ARDUINO_BOARD);
  Serial.println(ESP32_ISR_SERVO_VERSION);
  
  //Select ESP32 timer USE_ESP32_TIMER_NO
  ESP32_ISR_Servos.useTimer(USE_ESP32_TIMER_NO);

  servoIndex1 = ESP32_ISR_Servos.setupServo(PIN_D5, MIN_MICROS, MAX_MICROS);
  servoIndex2 = ESP32_ISR_Servos.setupServo(PIN_D6, MIN_MICROS, MAX_MICROS);

  if (servoIndex1 != -1)
    Serial.println(F("Setup Servo1 OK"));
  else
    Serial.println(F("Setup Servo1 failed"));

  if (servoIndex2 != -1)
    Serial.println(F("Setup Servo2 OK"));
  else
    Serial.println(F("Setup Servo2 failed"));
}

void loop()
{
  int position;

  if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) )
  {
    for (position = 0; position <= 180; position++)
    {
      // goes from 0 degrees to 180 degrees
      // in steps of 1 degree

      if (position % 30 == 0)
      {
        Serial.print(F("Servo1 pos = ")); Serial.print(position);
        Serial.print(F(", Servo2 pos = ")); Serial.println(180 - position);
      }

      ESP32_ISR_Servos.setPosition(servoIndex1, position);
      ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
      // waits 30ms for the servo to reach the position
      delay(30);
    }
    
    delay(5000);

    for (position = 180; position >= 0; position--)
    {
      // goes from 180 degrees to 0 degrees
      if (position % 30 == 0)
      {
        Serial.print(F("Servo1 pos = ")); Serial.print(position);
        Serial.print(F(", Servo2 pos = ")); Serial.println(180 - position);
      }

      ESP32_ISR_Servos.setPosition(servoIndex1, position);
      ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
      // waits 30ms for the servo to reach the position
      delay(30);
    }
    
    delay(5000);
  }
}

Examples:

  1. multiFileProject New
  2. ESP32_ISR_MultiServos
  3. ESP32_MultipleRandomServos
  4. ESP32_MultipleServos
  5. ISR_MultiServos
  6. MultipleRandomServos
  7. MultipleServos

Example ESP32_ISR_MultiServos

ESP32_ISR_Servo/examples/ESP32_ISR_MultiServos/ESP32_ISR_MultiServos.ino

Lines 72 to 220 in 18250af

#ifndef ESP32
#error This code is designed to run on ESP32 platform, not Arduino nor ESP8266! Please check your Tools->Board setting.
#endif
#define TIMER_INTERRUPT_DEBUG 1
#define ISR_SERVO_DEBUG 1
// Select different ESP32 timer number (0-3) to avoid conflict
#define USE_ESP32_TIMER_NO 3
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "ESP32_ISR_Servo.h"
// Don't use PIN_D1 in core v2.0.0 and v2.0.1. Check https://github.com/espressif/arduino-esp32/issues/5868
// Don't use PIN_D2 with ESP32_C3 (crash)
//See file .../hardware/espressif/esp32/variants/(esp32|doitESP32devkitV1)/pins_arduino.h
#if !defined(LED_BUILTIN)
#define LED_BUILTIN 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#endif
#define PIN_LED 2 // Pin D2 mapped to pin GPIO2/ADC12 of ESP32, control on-board LED
#define PIN_D0 0 // Pin D0 mapped to pin GPIO0/BOOT/ADC11/TOUCH1 of ESP32
#define PIN_D1 1 // Pin D1 mapped to pin GPIO1/TX0 of ESP32
#define PIN_D2 2 // Pin D2 mapped to pin GPIO2/ADC12/TOUCH2 of ESP32
#define PIN_D3 3 // Pin D3 mapped to pin GPIO3/RX0 of ESP32
#define PIN_D4 4 // Pin D4 mapped to pin GPIO4/ADC10/TOUCH0 of ESP32
#define PIN_D5 5 // Pin D5 mapped to pin GPIO5/SPISS/VSPI_SS of ESP32
#define PIN_D6 6 // Pin D6 mapped to pin GPIO6/FLASH_SCK of ESP32
#define PIN_D7 7 // Pin D7 mapped to pin GPIO7/FLASH_D0 of ESP32
#define PIN_D8 8 // Pin D8 mapped to pin GPIO8/FLASH_D1 of ESP32
#define PIN_D9 9 // Pin D9 mapped to pin GPIO9/FLASH_D2 of ESP32
#define PIN_D10 10 // Pin D10 mapped to pin GPIO10/FLASH_D3 of ESP32
#define PIN_D11 11 // Pin D11 mapped to pin GPIO11/FLASH_CMD of ESP32
#define PIN_D12 12 // Pin D12 mapped to pin GPIO12/HSPI_MISO/ADC15/TOUCH5/TDI of ESP32
#define PIN_D13 13 // Pin D13 mapped to pin GPIO13/HSPI_MOSI/ADC14/TOUCH4/TCK of ESP32
#define PIN_D14 14 // Pin D14 mapped to pin GPIO14/HSPI_SCK/ADC16/TOUCH6/TMS of ESP32
#define PIN_D15 15 // Pin D15 mapped to pin GPIO15/HSPI_SS/ADC13/TOUCH3/TDO of ESP32
#define PIN_D16 16 // Pin D16 mapped to pin GPIO16/TX2 of ESP32
#define PIN_D17 17 // Pin D17 mapped to pin GPIO17/RX2 of ESP32
#define PIN_D18 18 // Pin D18 mapped to pin GPIO18/VSPI_SCK of ESP32
#define PIN_D19 19 // Pin D19 mapped to pin GPIO19/VSPI_MISO of ESP32
#define PIN_D21 21 // Pin D21 mapped to pin GPIO21/SDA of ESP32
#define PIN_D22 22 // Pin D22 mapped to pin GPIO22/SCL of ESP32
#define PIN_D23 23 // Pin D23 mapped to pin GPIO23/VSPI_MOSI of ESP32
#define PIN_D24 24 // Pin D24 mapped to pin GPIO24 of ESP32
#define PIN_D25 25 // Pin D25 mapped to pin GPIO25/ADC18/DAC1 of ESP32
#define PIN_D26 26 // Pin D26 mapped to pin GPIO26/ADC19/DAC2 of ESP32
#define PIN_D27 27 // Pin D27 mapped to pin GPIO27/ADC17/TOUCH7 of ESP32
#define PIN_D32 32 // Pin D32 mapped to pin GPIO32/ADC4/TOUCH9 of ESP32
#define PIN_D33 33 // Pin D33 mapped to pin GPIO33/ADC5/TOUCH8 of ESP32
#define PIN_D34 34 // Pin D34 mapped to pin GPIO34/ADC6 of ESP32
#define PIN_D35 35 // Pin D35 mapped to pin GPIO35/ADC7 of ESP32
#define PIN_D36 36 // Pin D36 mapped to pin GPIO36/ADC0/SVP of ESP32
#define PIN_D39 39 // Pin D39 mapped to pin GPIO39/ADC3/SVN of ESP32
#define PIN_RX0 3 // Pin RX0 mapped to pin GPIO3/RX0 of ESP32
#define PIN_TX0 1 // Pin TX0 mapped to pin GPIO1/TX0 of ESP32
#define PIN_SCL 22 // Pin SCL mapped to pin GPIO22/SCL of ESP32
#define PIN_SDA 21 // Pin SDA mapped to pin GPIO21/SDA of ESP32
// Published values for SG90 servos; adjust if needed
#define MIN_MICROS 800 //544
#define MAX_MICROS 2450
int servoIndex1 = -1;
int servoIndex2 = -1;
void setup()
{
Serial.begin(115200);
while (!Serial && millis() < 5000);
delay(500);
Serial.print(F("\nStarting ESP32_ISR_MultiServos on "));
Serial.println(ARDUINO_BOARD);
Serial.println(ESP32_ISR_SERVO_VERSION);
//Select ESP32 timer USE_ESP32_TIMER_NO
ESP32_ISR_Servos.useTimer(USE_ESP32_TIMER_NO);
servoIndex1 = ESP32_ISR_Servos.setupServo(PIN_D3, MIN_MICROS, MAX_MICROS);
servoIndex2 = ESP32_ISR_Servos.setupServo(PIN_D4, MIN_MICROS, MAX_MICROS);
if (servoIndex1 != -1)
Serial.println(F("Setup Servo1 OK"));
else
Serial.println(F("Setup Servo1 failed"));
if (servoIndex2 != -1)
Serial.println(F("Setup Servo2 OK"));
else
Serial.println(F("Setup Servo2 failed"));
}
void loop()
{
int position;
if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) )
{
for (position = 0; position <= 180; position++)
{
// goes from 0 degrees to 180 degrees
// in steps of 1 degree
if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = "));
Serial.print(position);
Serial.print(F(", Servo2 pos = "));
Serial.println(180 - position);
}
ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}
delay(5000);
for (position = 180; position >= 0; position--)
{
// goes from 180 degrees to 0 degrees
if (position % 30 == 0)
{
Serial.print(F("Servo1 pos = "));
Serial.print(position);
Serial.print(F(", Servo2 pos = "));
Serial.println(180 - position);
}
ESP32_ISR_Servos.setPosition(servoIndex1, position);
ESP32_ISR_Servos.setPosition(servoIndex2, 180 - position);
// waits 30ms for the servo to reach the position
delay(30);
}
delay(5000);
}
}

Debug Terminal Output Samples

1. ESP32_MultipleRandomServos on ESP32_DEV

Starting ESP32_MultipleRandomServos on ESP32_DEV
ESP32_ISR_Servo v1.5.0
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 1, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 2, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 3, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 4, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 5, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 1, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 2, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 3, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 4, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 5, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos @ 180 degree
Servos idx = 0, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 1, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 2, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 3, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 4, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 5, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos sweeps from 0-180 degrees
Servos sweeps from 180-0 degrees
Servos, index depending, be somewhere from 0-180 degrees
Servos, index depending, be somewhere from 180-0 degrees
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 1, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 2, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 3, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 4, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos idx = 5, act. pos. (deg) = 0, pulseWidth (us) = 800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 1, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 2, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 3, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 4, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos idx = 5, act. pos. (deg) = 90, pulseWidth (us) = 1620
Servos @ 180 degree
Servos idx = 0, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 1, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 2, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 3, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 4, act. pos. (deg) = 180, pulseWidth (us) = 2450
Servos idx = 5, act. pos. (deg) = 180, pulseWidth (us) = 2450

2. ESP32_ISR_MultiServos on ESP32_DEV

Starting ESP32_ISR_MultiServos on ESP32_DEV
ESP32_ISR_Servo v1.5.0
Setup Servo1 OK
Setup Servo2 OK
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30

3. MultipleRandomServos on ESP32S3_DEV

Starting MultipleRandomServos on ESP32S3_DEV
ESP32_ISR_Servo v1.5.0
[ISR_SERVO] ESP32_S3_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting  ITimer OK
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5
Servos @ 0 degree
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
800
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
800
[ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
800
[ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
800
[ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
800
[ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos @ 90 degree
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
1620
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
1620
[ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
1620
[ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
1620

4. ESP32_ISR_MultiServos on ESP32S2_DEV

Starting ESP32_ISR_MultiServos on ESP32S2_DEV
ESP32_ISR_Servo v1.5.0
[ISR_SERVO] ESP32_S2_TimerInterrupt: _timerNo = 3 , _fre = 1000000
[ISR_SERVO] TIMER_BASE_CLK = 80000000 , TIMER_DIVIDER = 80
[ISR_SERVO] _timerIndex = 1 , _timerGroup = 1
[ISR_SERVO] _count = 0 - 10
[ISR_SERVO] timer_set_alarm_value = 10.00
[ISR_SERVO] Starting  ITimer OK
Setup Servo1 OK
Setup Servo2 OK
Servo1 pos = 0, Servo2 pos = 180
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 245 , pos = 180
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 1
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 244 , pos = 179
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 81 , pos = 2
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 243 , pos = 178
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 82 , pos = 3
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 242 , pos = 177
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 83 , pos = 4
[ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 241 , pos = 176
[ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 84 , pos = 5

Debug

Debug is enabled by default on Serial.

You can also change the debugging level from 0 to 4. Be careful and using level 2 only for temporary debug purpose only.

#define ISR_SERVO_DEBUG             1

Troubleshooting

If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.

Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.

Issues

Submit issues to: ESP32_ISR_Servo issues

TO DO

  1. Search for bug and improvement.

DONE

  1. Similar features for Arduino (UNO, Mega, etc...) and ESP8266
  2. Add functions getPosition() and getPulseWidth()
  3. Optimize the code
  4. Add more complicated examples
  5. Add support to new ESP32-S3 (ESP32S3_DEV, ESP32_S3_BOX, UM TINYS3, UM PROS3, UM FEATHERS3, etc.)
  6. Add support to new ESP32-S2 (ESP32S2_DEV, etc.)
  7. Add support to new ESP32-C3 (ESP32C3_DEV, etc.)
  8. Convert to h-only library.
  9. Optimize library code by using reference-passing instead of value-passing
  10. Improve accuracy by using float, instead of uint32_t for position in degrees
  11. Add example multiFileProject to demo for multiple-file project
  12. Fix breaking issue caused by ESP32 core v2.0.1+ by increasing TIMER_INTERVAL_MICRO to 12uS from 10uS
  13. Suppress errors and warnings for new ESP32 core v2.0.4
  14. Use allman astyle and add utils

Contributions and thanks

  1. Thanks to raphweb for the PR Fixed count >= min comparison for servo enable. to fix bug and leading to the new releases v1.1.0
  2. Thanks to Brent Rubell for the PR Add newer Adafruit boards to add support to new Adafruit boards such as QTPY_ESP32S2, FEATHER_ESP32S3_NOPSRAM and QTPY_ESP32S3_NOPSRAM, leading to the new releases v1.3.1
raphweb
⭐️ raphweb
 brentru
⭐️ Brent Rubell

Contributing

If you want to contribute to this project:

  • Report bugs and errors
  • Ask for enhancements
  • Create issues and pull requests
  • Tell other people about this library

License

  • The library is licensed under MIT

Copyright

Copyright (C) 2019- Khoi Hoang

About

This library enables you to use 1 Hardware Timer on ESP32-based board to control 16 or more servo motors. Now supporting ESP32, ESP32_S2, ESP32_S3, ESP32_C3-based boards. Tested OK with ESP32 core v2.0.5

Topics

arduino board esp32 isr non-blocking timers interrupt servo-controller millis mission-critical esp32-arduino arduino-libraries hardware-timers esp32-s2 esp32-c3 esp32-s3 isr-based-servo multi-channel-servo multi-servos

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v1.5.0 to fix doubled time for `ESP32_C3, ESP32_S2 and ESP32_S3` and to use `allman astyle` Latest
Nov 17, 2022
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