RcSeq library

RcSeq is an asynchronous library for ATmega328P (UNO), ATmega2560 (MEGA), ATtiny84, ATtiny85 (Digispark) and ATtiny167 (Digispark pro) to easily create servo's sequences and/or to execute short actions from RC commands, from a digital input, or from a launch function called in the sketch.

The Application Programming Interface (API) makes RcSeq library very easy to use.

Some definitions:

Sequence: is used to sequence one or several servos (sequence is defined in a structure in the user's sketch to be performed when the RC command rises). The Sequence table (structure) may contain some servo motions and some short actions to call at a predefined time. For each servo, start angle, end angle and speed are tunable.
Short Action: is used to perform a quick action (action is a short function defined in the user's sketch to be called when the RC command rises). The duration must be less than 20ms to not disturb the servo commands.

Some examples of use cases:

A landing gear retract:
- Lock, door and leg servos sequenced with a single RC channel
  - from a predefined position of the stick on the transmitter
  - from the 2 positions "Aux Channel" of the transmitter
Navigation lights for aircraft:
- Anticollision, beacon, landing lights commanded:
  - from predefined positions of the stick on the transmitter
  - from push-buttons in place of the stick potentiometer
Multi-switch:
- Up to 8 digital pins driven from a single RC channel
  - using the stick of the transmitter
  - using 8 push-buttons in place of the stick potentiometer
Zodiac animation:
- A pneumatic Zodiac dropped at sea and lifted back to the deck of a ship. Drop and lift sequences commanded:
  - from predefined positions of the stick on the transmitter
  - from a regular ON/OFF switch (for demo on table without RC set)
Animatronics sequences:
- leg motion,
- mouth motion,
- eyes motion,
- etc.

Triggers:

Sequences and short actions can be trigged by:

a RC signal (eg: RC receiver output)
- from one or several predefined positions of a stick of the transmitter
- from one or several push-button (keyboard) replacing a a stick of the transmitter. (RcSeq assumes Push-Buttons associated Pulse duration are equidistant).
- from Custom Keyboard replacing a stick of the the transmitter. (The pulse durations can be defined independently for each Push-Button).
- from Multi position switch (2 pos switch, 3 pos switch, or more, eg. rotactor) replacing a stick of the the transmitter.
a regular ON/OFF switch (no RC set required).
a launch function call in the sketch.

API/methods:

RcSeq_Init()
RcSeq_DeclareSignal()
RcSeq_DeclareStick()
RcSeq_DeclareKeyboard()
RcSeq_DeclareCustomKeyboard()
RcSeq_DeclareMultiPosSwitch()
RcSeq_SignalTimeout()
RcSeq_DeclareServo()
RcSeq_DeclareCommandAndSequence()
RcSeq_DeclareCommandAndShortAction()
RcSeq_LaunchSequence()
RcSeq_LaunchShortAction()
RcSeq_Refresh()
RcSeq_LibVersion()
RcSeq_LibRevision()
RcSeq_LibTextVersionRevision()

Macros and constants:

const SequenceSt_t
const KeyMap_t
RC_SEQUENCE()
RC_CUSTOM_KEYBOARD()
SHORT_ACTION_TO_PERFORM()
MOTION_WITH_SOFT_START_AND_STOP()
MOTION_WITHOUT_SOFT_START_AND_STOP()
CENTER_VALUE_US
RC_SEQ_START_CONDITION
RC_SEQ_END_OF_SEQ

Design considerations:

The RcSeq library requires 3 other libraries written by the same author:

TinyPinChange: a library to catch asynchronously the input change using Pin Change Interruption capability of the AVR microcontroller.
SoftRcPulseIn: a library to catch asynchronously the input pulses using TinyPinChange library.
SoftRcPulseOut: a library mainly based on the SoftwareServo library, but with a better pulse generation to limit jitter and with some other enhancements.

CAUTION:

The end user shall also use asynchronous programmation method in the loop() function (no blocking functions such as delay() or pulseIn()).

Contact

If you have some ideas of enhancement, please contact me by clicking on: RC Navy.

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