This library simplifies code for systems containing multiple servos with odd physical configurations. This library allows each servo to be configured in setup(), and then have the servo values modified on write automatically. This prevents cluttering the code with multiple instances of map(),constrain(), and addition of magic values that account for physical irregulatirites.
This library can be used in place of the standard Servo library with minimal code changes. Simply change Servo myservo; to ServoPlus myservo;, and you're good to go. From there, you can start taking advantage of other features as needed.
Moves all the positional adjustment and math on each servo write to a single set of configured values. This lets you save code for more interesting things.
Simplify mapping physical systems to the servo's 0-180 range. This makes it easier to do things such as operate in a 0-based range (such as -90 to 90), or scale for mechanical advantage (eg, an input of 90 generates a 45* arm position).
It works just as if you had used Arduino's map function on the values you're passing to the servo write() function, except automatically.
Add in a small offset to help with physical systems being a bit non-ideal, and helps get the map in the right position.
This is particularly helpful for continous rotation servos, especially if you can no longer reach the adjustment potentiometer to adjust the offset via the hardware.
Reverses the servo mapping. This is mostly useful to simplify configuration of servos mounted opposite eachother on a physical system, such as the two drive wheels for a small robot, or opposed servos working to lift an arm.
Specify the min/max angle you want your servo to stop at. This makes it easier to avoid mechanical constraints.
Returns the last value written, but after applying limits set by restrict() or the servo's hard-coded 0*-180* range. This way you can detect boundaries in code, or use read() to incriment/decriment position reliably.
Returns the "physical" servo position, as if you were using a standard servo library.
This code is released under the MIT liscence.