Bumped version to 3.5.0 - Fixed serious bug in reattach();

Author: ArminJo

README.md

@@ -93,7 +93,7 @@ For instructions how to enable these alternatives, see [Compile options / macros
 - **Float angels** are supported to allow **fine-grained servo control** comparable to using microseconds.
 - **User-specified callback function at "servo arrived" enables movement control independent of main loop**.
 - **Stop and resume** of servo movement.
-- **Detach and reattach**. No servo signal is generated for a detached servo. Therefore, it is not blocked and can be moved manually.
+- **Detach and reattach**. No servo signal is generated for a detached servo / the output is constant LOW. Therefore, it is not blocked and can be moved manually.
 - A **trim value** can be set for any servo. Its value is internally added to each requested position.
 - **Reverse operation** of servo is possible e.g. if it is mounted head down.
 - **Constraints for minimum and maximum servo degree** can be specified. Trim and reverse are applied after constraint processing.
@@ -190,8 +190,8 @@ You can handle multiple servos simultaneously by [special functions](https://git
 <br/>
 
 # Initial movement of Servo
-**Servos are buld to reach the target position as fast as possible.** 
-To achieve slow movement, this library gradually adjusts the target position, 
+**Servos are build to reach the target position as fast as possible.**
+To achieve slow movement, this library gradually adjusts the target position,
 and the servo attempts to respond to these changes as quickly as possible.
 This creates the appearance of slow movement even when the servo reacts very quickly.<br/>
 Initially, after powering on, the software has no information about the actual servo position!<br/>
@@ -448,6 +448,12 @@ This will print internal information visible in the Arduino *Serial Monitor* whi
 <br/>
 
 # Revision History
+### Version 3.5.0
+- Fixed serious bug in reattach();
+- Renamed InitializeAndCheckI2CConnection() to initializeAndCheckI2CConnection().
+- Renamed applyTrimAndreverseToTargetMicrosecondsOrUnits() to applyTrimAndReverseToTargetMicrosecondsOrUnits().
+- Housekeeping.
+
 ### Version 3.4.0
 - LightweightServo support for ATmega2560.
 - Renamed `mCurrentMicrosecondsOrUnits` to `mLastTargetMicrosecondsOrUnits` to make clear, that trim and reverse is NOT applied to this value.

examples/OneServo/OneServo.ino

@@ -3,7 +3,7 @@
  *
  *  Shows smooth linear movement from one servo position to another in different flavors.
  *
- *  Copyright (C) 2019-2024  Armin Joachimsmeyer
+ *  Copyright (C) 2019-2025  Armin Joachimsmeyer
  *  [email protected]
  *
  *  This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
@@ -81,6 +81,7 @@ ServoEasing Servo1;
 #endif
 
 #define START_DEGREE_VALUE  0 // The degree value written to the servo at time of attach.
+#define DELAY_BETWEEN_ACTIONS_MILLIS    1000
 void blinkLED();
 
 void setup() {
@@ -124,7 +125,7 @@ void setup() {
     }
 
     // Wait for servo to reach start position.
-    delay(2000);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 #if defined(PRINT_FOR_SERIAL_PLOTTER)
     // Legend for Arduino Serial plotter
     Serial.println(); // end of line of attach values
@@ -158,13 +159,13 @@ void loop() {
     } while (!Servo1.update());
 #endif
 
-    delay(1000);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
 #if !defined(PRINT_FOR_SERIAL_PLOTTER)
     Serial.println(F("Move to 45 degree in one second using interrupts"));
     Serial.flush(); // Just in case interrupts do not work
 #endif
-    Servo1.startEaseToD(45, 1000);
+    Servo1.startEaseToD(45, MILLIS_IN_ONE_SECOND);
 //    Servo1.startEaseToD((544 + ((2400 - 544) / 4)), 1000); // Alternatively you can specify the target as microsecond value
     // Blink until servo stops
     while (Servo1.isMoving()) {
@@ -174,15 +175,15 @@ void loop() {
         blinkLED();
     }
 
-    delay(2000); // wait one second after servo has arrived at target position
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
 #if !defined(PRINT_FOR_SERIAL_PLOTTER)
     Serial.println(F("Move to 135 degree and back nonlinear in one second each using interrupts"));
 #endif
     Servo1.setEasingType(EASE_CUBIC_IN_OUT); // EASE_LINEAR is default
 
     for (int i = 0; i < 2; ++i) {
-        Servo1.startEaseToD(135, 1000);
+        Servo1.startEaseToD(135, MILLIS_IN_ONE_SECOND);
 //        Servo1.startEaseToD((544 + (((2400 - 544) / 4) * 3)), 1000); // Alternatively you can specify the target as microsecond value
         // isMoving() calls yield for the ESP8266 boards
         while (Servo1.isMoving()) {
@@ -207,7 +208,7 @@ void loop() {
     }
     Servo1.setEasingType(EASE_LINEAR);
 
-    delay(2000); // wait one second after servo has arrived at target position
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
     /*
      * The LED goes on if servo reaches 120 degree
@@ -227,7 +228,7 @@ void loop() {
         ; // Here you can insert your own code
     }
 
-    delay(1000);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
     /*
      * The LED goes off when servo theoretical reaches 90 degree
@@ -238,7 +239,7 @@ void loop() {
     Servo1.startEaseTo(0, 90, START_UPDATE_BY_INTERRUPT);
 //    Servo1.startEaseTo(DEFAULT_MICROSECONDS_FOR_0_DEGREE, 360, true); // Alternatively you can specify the target as microsecond value
     // Wait. The servo should have moved 90 degree.
-    delay(1000);
+    delay(MILLIS_IN_ONE_SECOND);
     digitalWrite(LED_BUILTIN, LOW);
 
 #if !defined(DISABLE_PAUSE_RESUME)
@@ -249,24 +250,30 @@ void loop() {
      * Demonstrate pause and resume in the middle of a movement
      */
     Servo1.pause();
-    delay(1000);
+    delay(MILLIS_IN_ONE_SECOND);
     // resume movement using interrupts
     Servo1.resumeWithInterrupts();
 #endif
     while (Servo1.isMoving())
         ; // wait for servo to stop
 
 #  if !defined(PRINT_FOR_SERIAL_PLOTTER)
-    Serial.println(F("Detach the servo for 5 seconds. During this time you can move the servo manually."));
+    Serial.println(F("Detach the servo for 10 seconds. During this time you can move the servo manually."));
 #  endif
 
     Servo1.detach();
     /*
-     * After detach the servo is "not powered" for 5 seconds, i.e. no servo signal is generated.
+     * After detach the servo is "not powered" for 10 seconds, i.e. no servo signal is generated.
      * This allows you to easily move the servo manually.
      */
-    delay(5000); // wait 5 seconds
-    Servo1.attach(SERVO1_PIN, 0);
+    delay(10000); // wait 10 seconds
+
+#  if !defined(PRINT_FOR_SERIAL_PLOTTER)
+    Serial.println(F("Reattach the servo and wait for 3 seconds."));
+#  endif
+    Servo1.reattach();
+
+    delay(3000); // wait extra 3 seconds after reattach()
 }
 
 void blinkLED() {

examples/PCA9685_Expander/PCA9685_Expander.ino

@@ -6,7 +6,7 @@
  *
  *  Shows smooth linear movement from one servo position to another.
  *
- *  Copyright (C) 2019-2022  Armin Joachimsmeyer
+ *  Copyright (C) 2019-2025  Armin Joachimsmeyer
  *  [email protected]
  *
  *  This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
@@ -84,6 +84,8 @@ ServoEasing Servo1;
 #endif
 
 #define START_DEGREE_VALUE  0 // The degree value written to the servo at time of attach.
+#define DELAY_BETWEEN_ACTIONS_MILLIS    1000
+
 void blinkLED();
 
 void setup() {
@@ -127,7 +129,7 @@ void setup() {
     }
 
     // Wait for servo to reach start position.
-    delay(500);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 #if defined(PRINT_FOR_SERIAL_PLOTTER)
     // Legend for Arduino Serial plotter
     Serial.println(); // end of line of attach values
@@ -159,14 +161,14 @@ void loop() {
     } while (!Servo1.update());
 #endif
 
-    delay(1000);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
 #if !defined(PRINT_FOR_SERIAL_PLOTTER)
     Serial.println(F("Move to 45 degree in one second using interrupts"));
     Serial.flush(); // Just in case interrupts do not work
 #endif
-    Servo1.startEaseToD(45, 1000);
-//    Servo1.startEaseToD((544 + ((2400 - 544) / 4)), 1000); // Alternatively you can specify the target as microsecond value
+    Servo1.startEaseToD(45, MILLIS_IN_ONE_SECOND);
+//    Servo1.startEaseToD((544 + ((2400 - 544) / 4)), MILLIS_IN_ONE_SECOND); // Alternatively you can specify the target as microsecond value
     // Blink until servo stops
     while (Servo1.isMoving()) {
         /*
@@ -175,16 +177,16 @@ void loop() {
         blinkLED();
     }
 
-    delay(2000); // wait one second after servo has arrived at target position
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
 #if !defined(PRINT_FOR_SERIAL_PLOTTER)
     Serial.println(F("Move to 135 degree and back nonlinear in one second each using interrupts"));
 #endif
     Servo1.setEasingType(EASE_CUBIC_IN_OUT); // EASE_LINEAR is default
 
     for (uint_fast8_t i = 0; i < 2; ++i) {
-        Servo1.startEaseToD(135, 1000);
-//        Servo1.startEaseToD((544 + (((2400 - 544) / 4) * 3)), 1000); // Alternatively you can specify the target as a microsecond value
+        Servo1.startEaseToD(135, MILLIS_IN_ONE_SECOND);
+//        Servo1.startEaseToD((544 + (((2400 - 544) / 4) * 3)), MILLIS_IN_ONE_SECOND); // Alternatively you can specify the target as a microsecond value
         // isMoving() calls yield for the ESP8266 boards
         while (Servo1.isMoving()) {
             /*
@@ -199,8 +201,8 @@ void loop() {
             ; // no delays here to avoid break between forth and back movement
 #endif
         }
-        Servo1.startEaseToD(45, 1000);
-//        Servo1.startEaseToD((544 + ((2400 - 544) / 4)), 1000); // Alternatively you can specify the target as microsecond value
+        Servo1.startEaseToD(45, MILLIS_IN_ONE_SECOND);
+//        Servo1.startEaseToD((544 + ((2400 - 544) / 4)), MILLIS_IN_ONE_SECOND); // Alternatively you can specify the target as microsecond value
         while (Servo1.isMoving()) {
 #if defined(ESP32)
             // ESP32 requires it, delay(0) or yield() or taskYIELD() is not sufficient here,
@@ -213,7 +215,7 @@ void loop() {
     }
     Servo1.setEasingType(EASE_LINEAR);
 
-    delay(2000); // wait one second after servo has arrived at target position
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
     /*
      * The LED goes on if servo reaches 120 degree
@@ -231,7 +233,7 @@ void loop() {
         ; // wait for servo to stop
     }
 
-    delay(1000);
+    delay(DELAY_BETWEEN_ACTIONS_MILLIS);
 
     /*
      * The LED goes off when servo theoretical reaches 90 degree
@@ -241,8 +243,8 @@ void loop() {
 #endif
     Servo1.startEaseTo(0, 90, START_UPDATE_BY_INTERRUPT);
 //    Servo1.startEaseTo(DEFAULT_MICROSECONDS_FOR_0_DEGREE, 360, true); // Alternatively you can specify the target as microsecond value
-    // Wait. The servo should have moved 90 degree.
-    delay(1000);
+    // Wait until the servo should have moved to 90 degree, then demonstrate pause().
+    delay(MILLIS_IN_ONE_SECOND);
     digitalWrite(LED_BUILTIN, LOW);
 
 #if !defined(DISABLE_PAUSE_RESUME)
@@ -253,12 +255,31 @@ void loop() {
      * Demonstrate pause and resume in the middle of a movement
      */
     Servo1.pause();
-    delay(1000);
+    delay(MILLIS_IN_ONE_SECOND);
     // resume movement using interrupts
     Servo1.resumeWithInterrupts();
-#endif
+#endif // !defined(DISABLE_PAUSE_RESUME)
+
+    while (Servo1.isMoving()) {
+        ; // wait for servo to stop
+    }
+
+#  if !defined(PRINT_FOR_SERIAL_PLOTTER)
+    Serial.println(F("Detach the servo for 10 seconds. During this time you can move the servo manually."));
+#  endif
+
+    Servo1.detach();
+    /*
+     * After detach the servo is "not powered" for 10 seconds, i.e. no servo signal is generated.
+     * This allows you to easily move the servo manually.
+     */
+    delay(10000); // wait 10 seconds
+#  if !defined(PRINT_FOR_SERIAL_PLOTTER)
+    Serial.println(F("Reattach the servo and wait for 3 seconds."));
+#  endif
+    Servo1.reattach();
 
-    delay(3000); // wait extra 2 seconds
+    delay(3000); // wait extra 3 seconds after reattach()
 }
 
 void blinkLED() {