/*Servo control from an analog input

 The minimum (minPulse) and maxiumum (maxPuluse) values
 will be different depending on your specific servo motor.
 Ideally, it should be between 1 and 2 milliseconds, but in practice,
 0.5 - 2.5 milliseconds works well for me.
 Try different values to see what numbers are best for you.

 This program uses the millis() function to keep track of when the servo was 
 last pulsed.  millis() produces an overflow error (i.e. generates a number
 that's too big to fit in a long variable) after about 5 days. if you're
 making a program that has to run for more than 5 days, you may need to 
 account for this.

 by Tom Igoe
 additions by Carlyn Maw
 Created 28 Jan. 2006
 Updated 7 Jun. 2006
 */

int servoPin = __;     // Control pin for servo motor
int minPulse = 500;   // Minimum servo position
int maxPulse = 2500;  // Maximum servo position
int pulse = 0;        // Amount to pulse the servo

long lastPulse = 0;    // the time in milliseconds of the last pulse
int refreshTime = 20; // the time needed in between pulses

int analogValue = 0;  // the value returned from the analog sensor
int analogPin = ___;    // the analog pin that the sensor's on

void setup() {
  pinMode(________, OUTPUT);  // Set servo pin as an output pin
  pulse = minPulse;           // Set the motor position value to the minimum
  Serial.begin(9600);
}

void loop() {
  analogValue = analogRead(analogPin);      // read the analog input
  pulse = (analogValue * 19) / 10 + minPulse;    // convert the analog value
                                            // to a range between minPulse
                                            // and maxPulse. 

  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(________, HIGH);   // Turn the motor on
    delayMicroseconds(pulse);       // Length of the pulse sets the motor position
    digitalWrite(________, LOW);    // Turn the motor off
    lastPulse = millis();           // save the time of the last pulse
  }
}

/*
 * Servo Serial Better uses updateServo
 * -------------------
 *
 *
 * Created 18 October 2006
 * copyleft 2006 Tod E. Kurt <tod@todbot.com>
 * http://todbot.com/
 *
 * adapted from "http://itp.nyu.edu/physcomp/Labs/Servo"
 */

int servoPin = _;     // Control pin for servo motor

int pulseWidth = 0;    // Amount to pulse the servo
long lastPulse = 0;    // the time in millisecs of the last pulse
int refreshTime = 20;  // the time in millisecs needed in between pulses
int val;               // variable used to store data from serial port
int analogPin = ___;    // the analog pin that the sensor's on

int minPulse = 700;   // minimum pulse width

void setup() {
  pinMode(servoPin, OUTPUT);  // Set servo pin as an output pin
  pulseWidth = minPulse;      // Set the motor position to the minimum
  Serial.begin(19200);         // connect to the serial port
  Serial.println("Servo Serial Better ready");
}

void loop() {
 analogValue = analogRead(analogPin);      // read the analog input
 pulseWidth = (analogValue * 19) / 10 + minPulse;    // convert the analog value
                                            // to a range between minPulse
                                            // and maxPulse. 

  updateServo();   // update servo position
}

// called every loop(). 
// uses global variables servoPin, pulsewidth, lastPulse, & refreshTime
void updateServo() {
  // pulse the servo again if rhe refresh time (20 ms) have passed:
  if (millis() - lastPulse >= refreshTime) {
    digitalWrite(servoPin, HIGH);   // Turn the motor on
    delayMicroseconds(pulseWidth);  // Length of the pulse sets the motor position
    digitalWrite(servoPin, LOW);    // Turn the motor off
    lastPulse = millis();           // save the time of the last pulse
  }
}

/*
 * Two servos with two potentiometer control
 * Theory and Practice of Tangible User Interfaces
 * October 11 2007
 *
 */

int servoPin1 = 7;      // Control pin for servo motor 1
int servoPin2 = 8;      // Control pin for servo motor 2
int potPin1   = 0;      // select the input pin for the potentiometer 1
int potPin2   = 1;      // select the input pin for the potentiometer 2

int pulseWidth1 = 0;    // Amount to pulse the servo 1
int pulseWidth2 = 0;    // Amount to pulse the servo 2
long lastPulse1 = 0;    // the time in millisecs of the last pulse of servo 1
long lastPulse2 = 0;    // the time in millisecs of the last pulse of servo 2
int val_1;              // variable used to store data from potentiometer 1
int val_2;              // variable used to store data from potentiometer 2

int refreshTime = 20;   // the time in millisecs needed in between pulses
int minPulse = 500;    // minimum pulse width

void setup() {
  pinMode(servoPin1, OUTPUT);  // Set servo pin 1 as an output pin
  pinMode(servoPin2, OUTPUT);  // Set servo pin 2 as an output pin
  pulseWidth1 = minPulse;      // Set the motor position to the minimum
  pulseWidth2 = minPulse;      // Set the motor position to the minimum
  Serial.begin(9600);          // connect to the serial port
  Serial.println("Two servos with two potentiometers ready");
}

void loop() {
  val_1 = analogRead(potPin1);    // read the value from the sensor 1, between 0 - 1024
  val_2 = analogRead(potPin2);    // read the value from the sensor 2, between 0 - 1024
    
  if (val_1 > 0 && val_1 <= 999 ) {
    pulseWidth1 = val_1*2 + minPulse;  // convert angle to microseconds
  }
  updateServo1();   // update servo 1 position

  if (val_2 > 0 && val_2 <= 999 ) {
    pulseWidth2 = val_2*2 + minPulse;  // convert angle to microseconds
  }
  updateServo2();   // update servo 2 position
}

void updateServo1() {
  if (millis() - lastPulse1 >= refreshTime) {
    digitalWrite(servoPin1, HIGH); 
    delayMicroseconds(pulseWidth1);  
    digitalWrite(servoPin1, LOW);   
    lastPulse1 = millis();          
  }
}

void updateServo2() {
  if (millis() - lastPulse2 >= refreshTime) {
    digitalWrite(servoPin2, HIGH);  
    delayMicroseconds(pulseWidth2);  
    digitalWrite(servoPin2, LOW);   
    lastPulse2 = millis(); 
  }
}