ESP32_ISR_Servo

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ESP32_ISR_Servo

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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

ESP32_ISR_Servo 최신버젼 다운로드

최종 버전 다운로드 (.zip)

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# ESP32_ISR_Servo Library

[![arduino-library-badge](https://www.ardu-badge.com/badge/ESP32_ISR_Servo.svg?)](https://www.ardu-badge.com/ESP32_ISR_Servo)
[![GitHub release](https://img.shields.io/github/release/khoih-prog/ESP32_ISR_Servo.svg)](https://github.com/khoih-prog/ESP32_ISR_Servo/releases)
[![GitHub](https://img.shields.io/github/license/mashape/apistatus.svg)](https://github.com/khoih-prog/ESP32_ISR_Servo/blob/master/LICENSE)
[![contributions welcome](https://img.shields.io/badge/contributions-welcome-brightgreen.svg?style=flat)](https://raw.githubusercontent.com/khoih-prog/ESP32_ISR_Servo/master/)
[![GitHub issues](https://img.shields.io/github/issues/khoih-prog/ESP32_ISR_Servo.svg)](http://github.com/khoih-prog/ESP32_ISR_Servo/issues)

---
---

## Table of Contents

* [Important Change from v1.3.0](#Important-Change-from-v130)
* [Important Change from v1.2.0](#Important-Change-from-v120)
* [Why do we need this ESP32_ISR_Servo library](#why-do-we-need-this-esp32_isr_servo-library)
  * [Features](#features)
  * [Important Notes about using ISR](#important-notes-about-using-isr)
  * [Currently supported Boards](#currently-supported-boards)
* [Changelog](changelog.md)
* [Prerequisites](#prerequisites)
* [Installation](#installation)
  * [Use Arduino Library Manager](#use-arduino-library-manager)
  * [Manual Install](#manual-install)
  * [VS Code & PlatformIO](#vs-code--platformio)
* [HOWTO Fix `Multiple Definitions` Linker Error](#howto-fix-multiple-definitions-linker-error)
* [HOWTO Use analogRead() with ESP32 running WiFi and/or BlueTooth (BT/BLE)](#howto-use-analogread-with-esp32-running-wifi-andor-bluetooth-btble)
  * [1. ESP32 has 2 ADCs, named ADC1 and ADC2](#1--esp32-has-2-adcs-named-adc1-and-adc2)
  * [2. ESP32 ADCs functions](#2-esp32-adcs-functions)
  * [3. ESP32 WiFi uses ADC2 for WiFi functions](#3-esp32-wifi-uses-adc2-for-wifi-functions)
* [More useful Information](#more-useful-information)
  * [ESP32 Hardware Timers](#esp32-hardware-timers)
  * [New functions](#new-functions)
  * [What special in this ESP32_ISR_Servo library](#what-special-in-this-esp32_isr_servo-library)
* [HOWTO Usage](#howto-usage)
* [Examples](#examples)
  * [ 1. **multiFileProject**](examples/multiFileProject) **New**
  * [ 2. ESP32_ISR_MultiServos](examples/ESP32_ISR_MultiServos)
  * [ 3. ESP32_MultipleRandomServos](examples/ESP32_MultipleRandomServos)
  * [ 4. ESP32_MultipleServos](examples/ESP32_MultipleServos)
  * [ 5. ISR_MultiServos](examples/ISR_MultiServos)
  * [ 6. MultipleRandomServos](examples/MultipleRandomServos)
  * [ 7. MultipleServos](examples/MultipleServos)
* [Example ESP32_ISR_MultiServos](#example-ESP32_ISR_MultiServos)
* [Debug Terminal Output Samples](#debug-terminal-output-samples)
  * [1. ESP32_MultipleRandomServos on ESP32_DEV](#1-esp32_multiplerandomservos-on-esp32_dev)
  * [2. ESP32_ISR_MultiServos on ESP32_DEV](#2-esp32_isr_multiservos-on-esp32_dev)
  * [3. MultipleRandomServos on ESP32S3_DEV](#3-MultipleRandomServos-on-ESP32S3_DEV)
  * [4. ESP32_ISR_MultiServos on ESP32S2_DEV](#4-ESP32_ISR_MultiServos-on-ESP32S2_DEV)
* [Debug](#debug)
* [Troubleshooting](#troubleshooting)
* [Issues](#issues)
* [TO DO](#to-do)
* [DONE](#done)
* [Contributions and Thanks](#contributions-and-thanks)
* [Contributing](#contributing)
* [License](#license)
* [Copyright](#copyright)

---
---

### 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](#howto-fix-multiple-definitions-linker-error)

---
---

### Why do we need this [ESP32_ISR_Servo library](https://github.com/khoih-prog/ESP32_ISR_Servo)

#### 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](https://www.arduino.cc/reference/en/language/functions/external-interrupts/attachinterrupt/)

---

#### Currently supported Boards

This [**ESP32_ISR_Servo** library](https://github.com/khoih-prog/ESP32_ISR_Servo) 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](https://github.com/arduino/Arduino). [![GitHub release](https://img.shields.io/github/release/arduino/Arduino.svg)](https://github.com/arduino/Arduino/releases/latest)
2. [`ESP32 Core 2.0.5+`](https://github.com/espressif/arduino-esp32) for ESP32-based boards. [![Latest release](https://img.shields.io/github/release/espressif/arduino-esp32.svg)](https://github.com/espressif/arduino-esp32/releases/latest/)

---
---

## 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](https://www.ardu-badge.com/badge/ESP32_ISR_Servo.svg?)](https://www.ardu-badge.com/ESP32_ISR_Servo) for more detailed instructions.

### Manual Install

Another way to install is to:

1. Navigate to [ESP32_ISR_Servo](https://github.com/khoih-prog/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](https://code.visualstudio.com/)
2. Install [PlatformIO](https://platformio.org/platformio-ide)
3. Install [**ESP32_ISR_Servo** library](https://registry.platformio.org/libraries/khoih-prog/ESP32_ISR_Servo) by using [Library Manager](https://registry.platformio.org/libraries/khoih-prog/ESP32_ISR_Servo/installation). Search for **ESP32_ISR_Servo** in [Platform.io Author's Libraries](https://platformio.org/lib/search?query=author:%22Khoi%20Hoang%22)
4. Use included [platformio.ini](platformio/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](https://docs.platformio.org/page/projectconf.html)

---
---

### 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

```cpp
// 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

```cpp
// 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](examples/multiFileProject) for a `HOWTO` demo.

Have a look at the discussion in [Different behaviour using the src_cpp or src_h lib #80](https://github.com/khoih-prog/ESPAsync_WiFiManager/discussions/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**](https://github.com/khoih-prog/ESP_WiFiManager/issues/39) 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**](https://github.com/espressif/esp-idf/blob/master/components/driver/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**](https://github.com/khoih-prog/ESP_WiFiManager/issues/39) 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

```cpp
// 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](https://github.com/khoih-prog/ESP32_ISR_Servo)

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**](examples/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:

```cpp
#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);
      }

```

---
---

### Examples:

1. [multiFileProject](examples/multiFileProject) **New**
 2. [ESP32_ISR_MultiServos](examples/ESP32_ISR_MultiServos)
 3. [ESP32_MultipleRandomServos](examples/ESP32_MultipleRandomServos) 
 4. [ESP32_MultipleServos](examples/ESP32_MultipleServos) 
 5. [ISR_MultiServos](examples/ISR_MultiServos)
 6. [MultipleRandomServos](examples/MultipleRandomServos)
 7. [MultipleServos](examples/MultipleServos)
 
---

### Example [ESP32_ISR_MultiServos](examples/ESP32_ISR_MultiServos)

https://github.com/khoih-prog/ESP32_ISR_Servo/blob/18250af8451efd44e04fc5430ba07087b828f6b9/examples/ESP32_ISR_MultiServos/ESP32_ISR_MultiServos.ino#L72-L220

---
---

### 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.

```cpp
#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](https://github.com/khoih-prog/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](examples/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](https://github.com/raphweb) for the PR [Fixed count >= min comparison for servo enable.](https://github.com/khoih-prog/ESP32_ISR_Servo/pull/1) to fix bug and leading to the new releases v1.1.0
2. Thanks to [Brent Rubell](https://github.com/brentru) for the PR [Add newer Adafruit boards](https://github.com/khoih-prog/ESP32_ISR_Servo/pull/5) 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

<table>
 <tr>
 <td align="center"><a href="https://github.com/raphweb"><img src="https://github.com/raphweb.png" width="100px;" alt="raphweb"/> ⭐️ raphweb</a> </td>
 <td align="center"><a href="https://github.com/brentru"><img src="https://github.com/brentru.png" width="100px;" alt="brentru"/> ⭐️ Brent Rubell</a> </td>
 </tr> 
</table>

---

## 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](https://github.com/khoih-prog/ESP32_ISR_Servo/blob/master/LICENSE)

---

ESP32_ISR_Servo

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