This code controls two servo motors - one connected to...

March 24, 2024 at 07:23 AM

#include <Servo.h>

// Define ESC pin
#define ESC_PIN 9

// Define servo pin for flapping mechanism
#define FLAP_PIN 10

// Create servo objects
Servo esc;
Servo flapper;

// Variables to store servo positions
int escPos = 0; // 0 to 180
int flapperPos = 90; // 0 to 180

// Define time intervals
unsigned long startMillis;
const unsigned long fullSpeedDuration = 120000; // 2 minutes in milliseconds
const unsigned long totalDuration = fullSpeedDuration + 30000; // Total duration including slow down (2 minutes + 30 seconds)
const unsigned long cycleGap = 240000; // 4 minutes in milliseconds

void setup() {
  // Initialize serial communication
  Serial.begin(9600);

  // Attach servo objects to respective pins
  esc.attach(ESC_PIN);
  flapper.attach(FLAP_PIN);

  // Initialize ESC and flapper to starting positions
  esc.writeMicroseconds(1000); // Send minimum throttle signal (0 speed)
  delay(1000); // Wait for ESC to initialize
  flapper.write(flapperPos); // Set flapper to initial position

  // Record start time
  startMillis = millis();
}

void loop() {
  // Get current time
  unsigned long currentMillis = millis();

  // Calculate elapsed time
  unsigned long elapsedTime = currentMillis - startMillis;

  // Check if it's time to change speed
  if (elapsedTime < fullSpeedDuration) {
    // Increase throttle signal gradually to full speed
    escPos = map(elapsedTime, 0, fullSpeedDuration, 1000, 2000);
    esc.writeMicroseconds(escPos);
  } else if (elapsedTime < totalDuration) {
    // Decrease throttle signal gradually to 0 over the next 30 seconds
    escPos = map(elapsedTime - fullSpeedDuration, 0, 30000, 2000, 1000);
    esc.writeMicroseconds(escPos);
  } else if (elapsedTime < cycleGap) {
    // Do nothing and wait for the gap to end
  } else {
    // Reset timer and start again
    startMillis = millis();
  }

  // Flapping mechanism control (if needed)
  // You can implement your flapping mechanism control here

  // Print elapsed time for debugging (optional)
  Serial.print("Elapsed Time: ");
  Serial.println(elapsedTime);

  // Add a small delay to avoid excessive looping
  delay(20);
}

This code controls two servo motors - one connected to an Electronic Speed Controller (ESC) and the other to a flapping mechanism. The ESC servo motor is gradually increased to full speed over a 2-minute duration, then decreased to 0 speed over the next 30 seconds. There is a 4-minute gap before the cycle repeats. The flapper servo motor position is kept constant. The code also includes some debugging output for elapsed time.

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