Viele Servos mit Arduino steuern

Hallo Stefan,
danke für die schnelle Antwort. Ich habe auch schon ein Sketch im Forum opendcc gefunden.
Hier der Sketch werde ihn demnächst ausprobieren.

Gruß aus Hamburg
Joachim
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Arduino DCC Servo and Function Decoder.
// Author: Author: Ruud Boer – January 2015
// This sketch turns an Arduino into a DCC decoder with max 12 servo motor outputs combined with function outputs.
// The DCC signal is optically separated and fed to pin 2 (=Interrupt 0). Schematics: http://www.mynabay.com
// Many thanks to http://www.mynabay.com for publishing their DCC monitor and -decoder code, which is used in this sketch.
//
// Important Change:
// This sketch from Ruud Boer was changed by lordbrummi in April 2016
// Now you can connect a PWM Arduino Servo Shield with 16 possible servos and adress them with DCC adresses
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// IMPORTANT: change some lines marked as IMPORTANT !!!!!
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

#include
#include

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

#include
#include
#define kDCC_INTERRUPT 0

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Fill in these values …
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
const byte maxservos = 3; //The number of servos (not the physical number, but the number of servo adresses defined. IMPORTANT!!!!!
const byte servotimer = 0; //Global Servotimer fo all servos, higher value is slower (0 is recommended)
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Set the Servomin and the Servomax of your servo between the gear range possibility IMPORTANT!!!!!
const int SERVOMIN = 150; // this is the ‚minimum‘ pulse length count (out of 4096)
const int SERVOMAX = 600; // this is the ‚maximum‘ pulse length count (out of 4096)
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

int lastaddr; // last switched adress, internal use only

unsigned long timetoupdatesetpoint = millis() + servotimer;

struct DCCAccessoryAddress {
int address; // DCC address to respond to
byte output; // State of accessory: 1=on, 0=off (for internal use only)
int outputPin; // Arduino output pin
int change; // State of accessory change: 1=change, 0=no change (for internal use only)
};

DCCAccessoryAddress accessory[maxservos];
struct servoItem {
int angle;
int setpoint;
int offangle;
int onangle;
byte inverted;
int servo;
byte functionnumber;
unsigned long stimer;
unsigned long suptimer;
};

servoItem servos[maxservos];

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Fill in the address and pin for every accessory / function. Servos are ‚coupled‘ to accessory[n] in line 72 and further. IMPORTANT!!!!!
// COPY – PASTE as many times as you have functions. The amount must be same as in line 22 above!
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void ConfigureDecoderFunctions()
{
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// You have to declare as much accessorys as servomax is defined above.
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
accessory[0].address = 1; // DCC address for this accessory IMPORTANT!!!!!
accessory[0].outputPin = 13; // Arduino pin where accessory is connected to and which will be switched on/off

accessory[1].address = 2; // DCC address for this accessory
accessory[1].outputPin = 13; // Arduino pin where accessory is connected to and which will be switched on/off

accessory[2].address = 3; // DCC address for this accessory
accessory[2].outputPin = 12; // Arduino pin where accessory is connected to and which will be switched on/off
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

// Setup output pins for accessories
for(int i=0; i> 1;

boolean enable = (data & 0x01) ? 1 : 0;

for(int i=0; i<maxservos; i++)
{
if(address == accessory[i].address)
{
if (enable)
{
if (accessory[i].output != 1)accessory[i].change = 1;
accessory[i].output = 1;
}
else
{
if (accessory[i].output != 0)accessory[i].change = 1;
accessory[i].output = 0;
}
if (accessory[i].address != lastaddr) accessory[i].change = 1;
}
}
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Setup (run once)
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void setup()
{
DCC.SetBasicAccessoryDecoderPacketHandler(BasicAccDecoderPacket_Handler, true);
ConfigureDecoderFunctions();
ConfigureDecoderServos();
DCC.SetupDecoder( 0x00, 0x00, kDCC_INTERRUPT );
pinMode(2,INPUT_PULLUP); //Interrupt 0 with internal pull up resistor (can get rid of external 10k)
//pinMode(A5,INPUT_PULLUP); //If made LOW, all servos go to their min angle, to avoid jitter at starup. – Not to use with PWM Servoshield because it uses already pinMode A5
pinMode(13,OUTPUT);
digitalWrite(13,LOW); //switch off Arduino led at startup

Serial.begin(9600);

pwm.begin();

/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates ( false freq setting may destroy your servo ! ) IMPORTANT!!!!!!!
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

for (int n=0; n= maxservos ) addr = 0; // Next address to test

// Set accessory output pin
if (accessory[addr].change == 1)
{
if (accessory[addr].output)
{
digitalWrite(accessory[addr].outputPin, HIGH);
}
else
{
digitalWrite(accessory[addr].outputPin, LOW);
}
}

// Every ’servotimer‘ ms, modify setpoints and move servos 1 step (if needed)
if (millis() > timetoupdatesetpoint)
{
timetoupdatesetpoint = millis() + servotimer;

for (int n=0; n servos[n].suptimer)
{
if (accessory[servos[n].functionnumber].change == 1)
{
if (accessory[servos[n].functionnumber].output) servos[n].setpoint=servos[n].onangle;
else servos[n].setpoint=servos[n].offangle;

if (servos[n].angle servos[n].setpoint) servos[n].angle–;
if (servos[n].stimer==0)servos[n].angle=servos[n].setpoint;
pwm.setPWM(servos[n].servo, 0, servos[n].angle);

servos[n].suptimer = millis()+ servos[n].stimer;

if (servos[n].angle == servos[n].setpoint)
{
Serial.println(„Weiche wurde gestellt!“);
Serial.println(servos[n].setpoint);

lastaddr = accessory[n].address;

for (int k=0; k<maxservos; k++)
{
if (servos[k].servo == servos[n].servo)
{
servos[k].angle=servos[n].setpoint;
}
}
accessory[servos[n].functionnumber].change = 0;
}
}
}
}
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Move all servos to min position and set all function outputs to 0, to eliminate startup servo jerk current draw
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//if (digitalRead(A5)==LOW) {for (int n=0; n<maxservos; n++) accessory[n].output = 0;} – Not to use with PWM Servoshield because it uses already pinMode A5

} //END MAIN LOOP