546 lines
21 KiB
C++
Executable File
546 lines
21 KiB
C++
Executable File
// Production 17 Function DCC Decoder
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// Version 3.0 Geoff Bunza 2014
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// Uses modified software servo Lib
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//
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// ******** UNLESS YOU WANT ALL CV'S RESET UPON EVERY POWER UP
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// ******** AFTER THE INITIAL DECODER LOAD REMOVE THE "//" IN THE FOOLOWING LINE!!
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//#define DECODER_LOADED
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#include <NmraDcc.h>
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#include <SoftwareServo.h>
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SoftwareServo servo0;
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SoftwareServo servo1;
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SoftwareServo servo2;
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SoftwareServo servo3;
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SoftwareServo servo4;
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SoftwareServo servo5;
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SoftwareServo servo6;
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SoftwareServo servo7;
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SoftwareServo servo8;
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SoftwareServo servo9;
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SoftwareServo servo10;
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SoftwareServo servo11;
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SoftwareServo servo12;
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SoftwareServo servo13;
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SoftwareServo servo14;
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SoftwareServo servo15;
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SoftwareServo servo16;
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#define servo_start_delay 50
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#define servo_init_delay 7
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int tim_delay = 500;
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int numfpins = 17;
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byte fpins [] = {3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19};
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const int FunctionPin0 = 3;
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const int FunctionPin1 = 4;
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const int FunctionPin2 = 5;
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const int FunctionPin3 = 6;
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const int FunctionPin4 = 7;
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const int FunctionPin5 = 8;
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const int FunctionPin6 = 9;
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const int FunctionPin7 = 10;
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const int FunctionPin8 = 11;
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const int FunctionPin9 = 12;
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const int FunctionPin10 = 13;
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const int FunctionPin11 = 14; //A0
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const int FunctionPin12 = 15; //A1
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const int FunctionPin13 = 16; //A2
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const int FunctionPin14 = 17; //A3 & LOAD ACK
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const int FunctionPin15 = 18; //A4
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const int FunctionPin16 = 19; //A5
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NmraDcc Dcc ;
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DCC_MSG Packet ;
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uint8_t CV_DECODER_MASTER_RESET = 120;
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int t; // temp
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#define This_Decoder_Address 24
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struct QUEUE
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{
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int inuse;
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int current_position;
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int increment;
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int stop_value;
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int start_value;
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};
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QUEUE *ftn_queue = new QUEUE[16];
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extern uint8_t Decoder_Address = This_Decoder_Address;
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struct CVPair
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{
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uint16_t CV;
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uint8_t Value;
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};
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CVPair FactoryDefaultCVs [] =
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{
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{CV_MULTIFUNCTION_PRIMARY_ADDRESS, This_Decoder_Address},
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{CV_ACCESSORY_DECODER_ADDRESS_MSB, 0},
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{CV_MULTIFUNCTION_EXTENDED_ADDRESS_MSB, 0},
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{CV_MULTIFUNCTION_EXTENDED_ADDRESS_LSB, 0},
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{CV_DECODER_MASTER_RESET, 0},
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{30, 0}, //F0 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{31, 1}, //F0 Rate Blink=Eate,PWM=Rate,Servo=Rate
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{32, 28}, //F0 Start Position F0=0
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{33, 140}, //F0 End Position F0=1
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{34, 28}, //F0 Current Position
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{35, 0}, //F1 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{36, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{37, 28}, // Start Position Fx=0
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{38, 140}, // End Position Fx=1
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{39, 28}, // Current Position
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{40, 0}, //F2 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{41, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{42, 28}, // Start Position Fx=0
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{43, 140}, // End Position Fx=1
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{44, 28}, // Current Position
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{45, 0}, //F3 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{46, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{47, 28}, // Start Position Fx=0
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{48, 140}, // End Position Fx=1
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{49, 28}, // Current Position
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{50, 0}, //F4 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{51, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{52, 28}, // Start Position Fx=0
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{53, 140}, // End Position Fx=1
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{54, 28}, // Current Position
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{55, 0}, //F5 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{56, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{57, 28}, // Start Position Fx=0
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{58, 140}, // End Position Fx=1
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{59, 28}, // Current Position
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{60, 0}, //F6 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{61, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{62, 28}, // Start Position Fx=0
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{63, 140}, // End Position Fx=1
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{64, 28}, // Current Position
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{65, 0}, //F7 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{66, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{67, 1}, // Start Position Fx=0
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{68,35}, // End Position Fx=1
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{69, 1}, // Current Position
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{70, 0}, //F8 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{71, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{72, 1}, // Start Position Fx=0
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{73, 100}, // End Position Fx=1
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{74, 1}, // Current Position
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{75, 0}, //F9 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{76, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{77, 1}, // Start Position Fx=0
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{78, 10}, // End Position Fx=1
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{79, 1}, // Current Position
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{80, 0}, //F10 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{81, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{82, 1}, // Start Position Fx=0
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{83, 5}, // End Position Fx=1
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{84, 1}, // Current Position
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{85, 0}, //F11 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{86, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{87, 1}, // Start Position Fx=0
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{88, 5}, // End Position Fx=1
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{89, 1}, // Current Position
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{90, 0}, //F12 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{91, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{92, 1}, // Start Position Fx=0
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{93, 20}, // End Position Fx=1
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{94, 1}, // Current Position
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{95, 0}, //F13 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{96, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{97, 1}, // Start Position Fx=0
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{98, 35}, // End Position Fx=1
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{99, 2}, // Current Position
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{100, 0}, //F14 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{101, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{102, 1}, // Start Position Fx=0
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{103, 4}, // End Position Fx=1
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{104, 1}, // Current Position
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{105, 0}, //F15 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{106, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{107, 1}, // Start Position Fx=0
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{108, 60}, // End Position Fx=1
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{109, 20}, // Current Position
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{110, 0}, //F16 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{111, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{112, 1}, // Start Position Fx=0
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{113, 4}, // End Position Fx=1
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{114, 1}, // Current Position
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//FUTURE USE
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{115, 0}, //F17 Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
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{116, 1}, // Rate Blink=Eate,PWM=Rate,Servo=Rate
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{117, 28}, // Start Position Fx=0
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{118, 50}, // End Position Fx=1
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{119, 28}, // Current Position
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};
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uint8_t FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs)/sizeof(CVPair);
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void notifyCVResetFactoryDefault()
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{
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// Make FactoryDefaultCVIndex non-zero and equal to num CV's to be reset
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// to flag to the loop() function that a reset to Factory Defaults needs to be done
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FactoryDefaultCVIndex = sizeof(FactoryDefaultCVs)/sizeof(CVPair);
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};
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void setup() //******************************************************
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{
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int i;
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uint8_t cv_value;
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//Serial.begin(115200);
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// initialize the digital pins as outputs
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for (int i=0; i < numfpins; i++) {
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pinMode(fpins[i], OUTPUT);
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digitalWrite(fpins[i], 0);
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}
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for (int i=0; i < numfpins; i++) {
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digitalWrite(fpins[i], 1);
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delay (tim_delay/10);
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}
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delay( tim_delay);
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for (int i=0; i < numfpins; i++) {
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digitalWrite(fpins[i], 0);
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delay (tim_delay/10);
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}
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delay( tim_delay);
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// Setup which External Interrupt, the Pin it's associated with that we're using
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Dcc.pin(0, 2, 0);
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// Call the main DCC Init function to enable the DCC Receiver
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Dcc.init( MAN_ID_DIY, 100, FLAGS_MY_ADDRESS_ONLY, 0 );
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delay(800);
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#if defined(DECODER_LOADED)
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if ( Dcc.getCV(CV_DECODER_MASTER_RESET)== CV_DECODER_MASTER_RESET )
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#endif
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{
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for (int j=0; j < FactoryDefaultCVIndex; j++ )
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Dcc.setCV( FactoryDefaultCVs[j].CV, FactoryDefaultCVs[j].Value);
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digitalWrite(fpins[14], 1);
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delay (1000);
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digitalWrite(fpins[14], 0);
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}
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for ( i=0; i < numfpins; i++) {
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cv_value = Dcc.getCV( 30+(i*5)) ;
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//Serial.print(" cv_value: ");
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//Serial.println(cv_value, DEC) ;
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switch ( cv_value ) {
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case 0: // LED on/off
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ftn_queue[i].inuse = 0;
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break;
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case 1: // LED Blink
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{
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ftn_queue[i].inuse = 0;
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ftn_queue[i].current_position = 0;
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ftn_queue[i].start_value = 0;
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ftn_queue[i].increment = int (char (Dcc.getCV( 31+(i*5))));
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digitalWrite(fpins[i], 0);
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ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5))) ;
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}
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break;
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case 2: //servo
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{ ftn_queue[i].current_position =int (Dcc.getCV( 34+(i*5)));
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ftn_queue[i].stop_value = int (Dcc.getCV( 33+(i*5)));
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ftn_queue[i].start_value = int (Dcc.getCV( 32+(i*5)));
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ftn_queue[i].increment = -int (char (Dcc.getCV( 31+(i*5))));
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switch ( i ) {
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case 0: servo0.attach(FunctionPin0); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo0.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 1: servo1.attach(FunctionPin1); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo1.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 2: servo2.attach(FunctionPin2); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo2.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 3: servo3.attach(FunctionPin3); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo3.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 4: servo4.attach(FunctionPin4); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo4.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 5: servo5.attach(FunctionPin5); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo5.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 6: servo6.attach(FunctionPin6); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo6.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 7: servo7.attach(FunctionPin7); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo7.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 8: servo8.attach(FunctionPin8); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo8.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 9: servo9.attach(FunctionPin9); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo9.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 10: servo10.attach(FunctionPin10); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo10.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 11: servo11.attach(FunctionPin11); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo11.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 12: servo12.attach(FunctionPin12); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo12.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 13: servo13.attach(FunctionPin13); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo13.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 14: servo14.attach(FunctionPin14); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo14.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 15: servo15.attach(FunctionPin15); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo15.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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case 16: servo16.attach(FunctionPin16); // attaches servo on pin to the servo object
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ftn_queue[i].inuse = 1;
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servo16.write(ftn_queue[i].start_value);
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for (t=0; t<servo_start_delay; t++) {SoftwareServo::refresh();delay(servo_init_delay);}
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break;
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default:
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break;
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}
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}
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break;
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case 3: // DOUBLE ALTERNATING LED Blink
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{
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ftn_queue[i].inuse = 0;
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ftn_queue[i].current_position = 0;
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ftn_queue[i].start_value = 0;
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ftn_queue[i].increment = Dcc.getCV( 31+(i*5));
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digitalWrite(fpins[i], 0);
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digitalWrite(fpins[i+1], 0);
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ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5)));
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}
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break;
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case 4: // NEXT FEATURE to pin
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break;
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default:
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break;
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}
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}
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}
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void loop() //**********************************************************************
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{
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//MUST call the NmraDcc.process() method frequently
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// from the Arduino loop() function for correct library operation
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Dcc.process();
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SoftwareServo::refresh();
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delay(8);
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for (int i=0; i < numfpins; i++) {
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if (ftn_queue[i].inuse==1) {
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ftn_queue[i].current_position = ftn_queue[i].current_position + ftn_queue[i].increment;
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switch (Dcc.getCV( 30+(i*5))) {
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case 0:
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break;
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case 1:
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if (ftn_queue[i].current_position > ftn_queue[i].stop_value) {
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ftn_queue[i].start_value = ~ftn_queue[i].start_value;
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digitalWrite(fpins[i], ftn_queue[i].start_value);
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ftn_queue[i].current_position = 0;
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ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5)));
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}
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break;
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case 2:
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{
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if (ftn_queue[i].increment > 0) {
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if (ftn_queue[i].current_position > ftn_queue[i].stop_value)
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ftn_queue[i].current_position = ftn_queue[i].stop_value;
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}
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if (ftn_queue[i].increment < 0) {
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if (ftn_queue[i].current_position < ftn_queue[i].start_value)
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ftn_queue[i].current_position = ftn_queue[i].start_value;
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}
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set_servo(i, ftn_queue[i].current_position);
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}
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break;
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case 3:
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if (ftn_queue[i].current_position > ftn_queue[i].stop_value) {
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ftn_queue[i].start_value = ~ftn_queue[i].start_value;
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digitalWrite(fpins[i], ftn_queue[i].start_value);
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digitalWrite(fpins[i]+1, ~ftn_queue[i].start_value);
|
|
ftn_queue[i].current_position = 0;
|
|
ftn_queue[i].stop_value = int(Dcc.getCV( 33+(i*5)));
|
|
}
|
|
i++;
|
|
break;
|
|
case 4: //FUTURE FUNCTION
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
extern void notifyDccFunc( uint16_t Addr, FN_GROUP FuncGrp, uint8_t FuncState) {
|
|
switch(FuncGrp)
|
|
{
|
|
case FN_0_4: //Function Group 1 F0 F4 F3 F2 F1
|
|
exec_function( 0, FunctionPin0, (FuncState & FN_BIT_00)>>4 );
|
|
exec_function( 1, FunctionPin1, (FuncState & FN_BIT_01));
|
|
exec_function( 2, FunctionPin2, (FuncState & FN_BIT_02)>>1);
|
|
exec_function( 3, FunctionPin3, (FuncState & FN_BIT_03)>>2 );
|
|
exec_function( 4, FunctionPin4, (FuncState & FN_BIT_04)>>3 );
|
|
break;
|
|
|
|
case FN_5_8: //Function Group 1 S FFFF == 1 F8 F7 F6 F5 & == 0 F12 F11 F10 F9 F8
|
|
exec_function( 5, FunctionPin5, (FuncState & FN_BIT_05));
|
|
exec_function( 6, FunctionPin6, (FuncState & FN_BIT_06)>>1 );
|
|
exec_function( 7, FunctionPin7, (FuncState & FN_BIT_07)>>2 );
|
|
exec_function( 8, FunctionPin8, (FuncState & FN_BIT_08)>>3 );
|
|
break;
|
|
|
|
case FN_9_12:
|
|
exec_function( 9, FunctionPin9, (FuncState & FN_BIT_09));
|
|
exec_function( 10, FunctionPin10, (FuncState & FN_BIT_10)>>1 );
|
|
exec_function( 11, FunctionPin11, (FuncState & FN_BIT_11)>>2 );
|
|
exec_function( 12, FunctionPin12, (FuncState & FN_BIT_12)>>3 );
|
|
break;
|
|
|
|
case FN_13_20: //Function Group 2 FuncState == F20-F13 Function Control
|
|
exec_function( 13, FunctionPin13, (FuncState & FN_BIT_13));
|
|
exec_function( 14, FunctionPin14, (FuncState & FN_BIT_14)>>1 );
|
|
exec_function( 15, FunctionPin15, (FuncState & FN_BIT_15)>>2 );
|
|
exec_function( 16, FunctionPin16, (FuncState & FN_BIT_16)>>3 );
|
|
break;
|
|
|
|
case FN_21_28:
|
|
break;
|
|
}
|
|
}
|
|
void exec_function (int function, int pin, int FuncState) {
|
|
switch ( Dcc.getCV( 30+(function*5)) ) { // Config 0=On/Off,1=Blink,2=Servo,3=Double LED Blink
|
|
case 0: // On - Off LED
|
|
//Serial.println("****************cv:0 ") ;
|
|
digitalWrite (pin, FuncState);
|
|
ftn_queue[function].inuse = 0;
|
|
break;
|
|
case 1: // Blinking LED
|
|
if ((ftn_queue[function].inuse==0) && (FuncState==1)) {
|
|
ftn_queue[function].inuse = 1;
|
|
ftn_queue[function].start_value = 0;
|
|
digitalWrite(pin, 0);
|
|
ftn_queue[function].stop_value = int(Dcc.getCV( 33+(function*5)));
|
|
} else {
|
|
if ((ftn_queue[function].inuse==1) && (FuncState==0)) {
|
|
ftn_queue[function].inuse = 0;
|
|
digitalWrite(pin, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 2: // Servo
|
|
ftn_queue[function].inuse = 1;
|
|
if (FuncState==1) ftn_queue[function].increment = char ( Dcc.getCV( 31+(function*5)));
|
|
else ftn_queue[function].increment = - char(Dcc.getCV( 31+(function*5)));
|
|
if (FuncState==1) ftn_queue[function].stop_value = Dcc.getCV( 33+(function*5));
|
|
else ftn_queue[function].stop_value = Dcc.getCV( 32+(function*5));
|
|
/*
|
|
Serial.print("servo inc: ") ;
|
|
Serial.print(ftn_queue[function].increment,DEC) ;
|
|
Serial.print("servo inuse: ") ;
|
|
Serial.print(ftn_queue[function].inuse,DEC) ;
|
|
Serial.print("servo num: ") ;
|
|
Serial.print(function,DEC) ;
|
|
Serial.print(" stop: ");
|
|
Serial.println(ftn_queue[function].stop_value,DEC) ;
|
|
*/
|
|
break;
|
|
case 3: // Blinking LED PAIR
|
|
if ((ftn_queue[function].inuse==0) && (FuncState==1)) {
|
|
ftn_queue[function].inuse = 1;
|
|
ftn_queue[function].start_value = 0;
|
|
digitalWrite(fpins[function], 0);
|
|
digitalWrite(fpins[function+1], 1);
|
|
ftn_queue[function].stop_value = int(Dcc.getCV( 33+(function*5)));
|
|
} else {
|
|
if (FuncState==0) {
|
|
ftn_queue[function].inuse = 0;
|
|
digitalWrite(fpins[function], 0);
|
|
digitalWrite(fpins[function+1], 0);
|
|
}
|
|
}
|
|
break;
|
|
case 4: // Future Function
|
|
ftn_queue[function].inuse = 0;
|
|
break;
|
|
default:
|
|
ftn_queue[function].inuse = 0;
|
|
break;
|
|
}
|
|
}
|
|
void set_servo (int servo_num, int servo_pos) {
|
|
switch (servo_num) {
|
|
case 0: servo0.write(servo_pos);
|
|
break;
|
|
case 1: servo1.write(servo_pos);
|
|
break;
|
|
case 2: servo2.write(servo_pos);
|
|
break;
|
|
case 3: servo3.write(servo_pos);
|
|
break;
|
|
case 4: servo4.write(servo_pos);
|
|
break;
|
|
case 5: servo5.write(servo_pos);
|
|
break;
|
|
case 6: servo6.write(servo_pos);
|
|
break;
|
|
case 7: servo7.write(servo_pos);
|
|
break;
|
|
case 8: servo8.write(servo_pos);
|
|
break;
|
|
case 9: servo9.write(servo_pos);
|
|
break;
|
|
case 10: servo10.write(servo_pos);
|
|
break;
|
|
case 11: servo11.write(servo_pos);
|
|
break;
|
|
case 12: servo12.write(servo_pos);
|
|
break;
|
|
case 13: servo13.write(servo_pos);
|
|
break;
|
|
case 14: servo14.write(servo_pos);
|
|
break;
|
|
case 15: servo15.write(servo_pos);
|
|
break;
|
|
case 16: servo16.write(servo_pos);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|