Cleaned up README.md, and minor fixes to ServoSequence example comments

Author: Philip van Allen

README.md

@@ -1,31 +1,34 @@
-VarSpeedServo
+VarSpeedServo.h
 ===============
 
-This Arduino library allows the use of up to 8 servos used with an Arduino. Since it uses interrupts, servos can run asynchronously. The libarary also permits the setting of the speed of a move, and a write() call to position can wait and only return when the move is finished.
+The VarSpeedServo.h Arduino library allows the use of up to 8 servos moving asynchronously (because it uses interrupts). In addition, you can set the speed of a move, optionally wait (block) until the servo move is complete, and create sequences of moves that run asynchronously.
 
-This code is an adaptation of the standard Arduino Servo library, which was first adapted by Korman and posted on the [Arduino forum](http://forum.arduino.cc/index.php?topic=61586.0) to add the speed capability. Philip van Allen updated it for Arduino 1.0 + and added the ability to to wait for the move to complete.
+This code is an adaptation of the standard Arduino Servo.h library, which was first adapted by Korman and posted on the [Arduino forum](http://forum.arduino.cc/index.php?topic=61586.0) to add the speed capability. Philip van Allen updated it for Arduino 1.0 + and added the ability to to wait for the move to complete.
 
 * Supports up to 8 servos
 * Allows simultaneous, asynchronous movement of all servos
-* Speed of the move can be set
-* A servo write() function to set a new position can wait for completion before returning
-* Allows the use of asynchronous sequences of positions, where the servo can go at a specified speed to each position in order
+* The speed of a move can be set
+* The write() function initiates a move and can optionally wait for completion of the move before returning
+* A servo can be sent a sequence of moves (where each move has a position and speed)
 
 Sample Code
 ----------------------------
 
-	#include <VarSpeedServo.h> 
-	 
-	VarSpeedServo myservo;    // create servo object to control a servo 
-	 
-	void setup() {
-	  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
-	} 
-	 
-	void loop() {
-	  myservo.write(180, 30, true);        // move to 180 degrees, use a speed of 30, wait until move is complete
-	  myservo.write(0, 30, true);        // move to 0 degrees, use a speed of 30, wait until move is complete
-	}
+```
+
+#include <VarSpeedServo.h> 
+ 
+VarSpeedServo myservo;    // create servo object to control a servo 
+ 
+void setup() {
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
+} 
+ 
+void loop() {
+  myservo.write(180, 30, true);        // move to 180 degrees, use a speed of 30, wait until move is complete
+  myservo.write(0, 30, true);        // move to 0 degrees, use a speed of 30, wait until move is complete
+}
+```
 
 Additional examples are included in the distribution and are available in the Arduino Examples section.
 
@@ -40,17 +43,19 @@ VarSpeedServo - Class for manipulating servo motors connected to Arduino pins. M
 	attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
 	default min is 544, max is 2400  
 
-	write(value)     - Sets the servo angle of value in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+	write(value)     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
 	write(value, speed) - speed varies the speed of the move to new position 0=full speed, 1-255 slower to faster
 	write(value, speed, wait) - wait is a boolean that, if true, causes the function call to block until move is complete
 
 	writeMicroseconds() - Sets the servo pulse width in microseconds 
 	read()      - Gets the last written servo pulse width as an angle between 0 and 180. 
-	readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+	readMicroseconds()  - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
 	attached()  - Returns true if there is a servo attached. 
 	detach()    - Stops an attached servos from pulsing its i/o pin. 
 
-	slowmove(value, speed)  - The same as write(value, speed), retained for compatibility with Korman's version
+	slowmove(value, speed) - The same as write(value, speed), retained for compatibility with Korman's version
+
+	stop() - stops the servo at the current position
 
 	sequencePlay(sequence, sequencePositions); // play a looping sequence starting at position 0
 	sequencePlay(sequence, sequencePositions, loop, startPosition); // play sequence with number of positions, loop if true, start at position

VarSpeedServo.cpp

@@ -396,16 +396,16 @@ void VarSpeedServo::write(int value, uint8_t speed) {
 
 	if (speed) {
 		if (value < MIN_PULSE_WIDTH) {
-		// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
-      // updated to use constrain instead of if, pva
-      value = constrain(value, 0, 180);
-      value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());    
+			// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+      		// updated to use constrain instead of if, pva
+      		value = constrain(value, 0, 180);
+      		value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());    
 		}
 		// calculate and store the values for the given channel
 		byte channel = this->servoIndex;
 		if( (channel >= 0) && (channel < MAX_SERVOS) ) {   // ensure channel is valid
-      // updated to use constrain instead of if, pva
-      value = constrain(value, SERVO_MIN(), SERVO_MAX());
+      		// updated to use constrain instead of if, pva
+      		value = constrain(value, SERVO_MIN(), SERVO_MAX());
 
 			value = value - TRIM_DURATION;
 			value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
@@ -512,3 +512,20 @@ void VarSpeedServo::sequenceStop() {
   this->curSeqPosition = CURRENT_SEQUENCE_STOP;
 }
 
+/*
+	To do
+int VarSpeedServo::targetPosition() {
+	byte channel = this->servoIndex;
+	return map( servos[channel].target+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int VarSpeedServo::targetPositionMicroseconds() {
+	byte channel = this->servoIndex;
+	return servos[channel].target;
+}
+
+bool VarSpeedServo::isMoving() {
+	byte channel = this->servoIndex;
+	int servos[channel].target;
+}
+*/

examples/ServoSequence/ServoSequence.ino

@@ -28,9 +28,9 @@ void loop() {
   // read the input on analog pin 0:
   int sensorValue = analogRead(analogPin);
   if (sensorValue > 200) {
-    myservo1.sequencePlay(slow, 3); // play sequence slowHalf that has 3 positions, loop and start at first position
+    myservo1.sequencePlay(slow, 3); // play sequence "slowHalf" that has 3 positions, loop and start at first position
   } else {
-    myservo1.sequencePlay(twitchy, 4, true, 2); // play sequence 1, loop, start at third position
+    myservo1.sequencePlay(twitchy, 4, true, 2); // play sequence "twitchy", loop, start at third position
   }
   delay(2);        // delay in between reads for analogin stability
 }