🚀 ESP32 Multi-Servo Control System

🌟 Project Overview

Experience fluid, precision-controlled servo motion with the ESP32! This project enables seamless control of single or multiple servos, allowing smooth transitions between angles to prevent mechanical stress and achieve professional-grade motion.

Built With

• ESP32 microcontroller for high-performance PWM control
• ESP32Servo library for accurate servo handling
• Custom modules:
  • Speed_Control.h — smooth, adjustable speed movement
  • Multi_Servo.h — efficient multi-servo management

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⚡ Key Features

• Smooth, speed-adjustable servo motion
• Control one or multiple servos at once
• Simple, intuitive initialization functions
• Configurable PWM frequency and pulse width
• Lightweight, modular, and easily extendable

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🛠 Hardware Requirements

• ESP32 development board
• Servo motors (1–4)
• External power supply recommended for servos
• Jumper wires & breadboard (optional)

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💻 Software Requirements

• PlatformIO (VSCode recommended)
• Libraries:
  • ESP32Servo

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🏗 PlatformIO Project Setup

1. Create a new PlatformIO project targeting your ESP32 board.
2. Place your files in the src/ folder:
   • main.cpp (main Arduino code)
3. Place library files in:
   • lib/Speed_Control/ → Speed_Control.h, Speed_Control.cpp
   • lib/Multi_Servo/ → Multi_Servo.h, Multi_Servo.cpp
4. Configure platformio.ini:

[env:esp32doit-devkit-v1]
platform = espressif32
board = esp32doit-devkit-v1
framework = arduino
lib_deps = madhephaestus/ESP32Servo@^3.0.5
lib_extra_dirs = lib/Speed_Control lib/Multi_Servo
monitor_speed = 115200

5. Connect your ESP32 and build/upload your project.

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🔌 Pin Configuration

Servo	ESP32 Pin
Servo 1	14
Servo 2	15
Servo 3	16
Servo 4	17

Adjust servppins[] in your code to match your hardware setup.

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🚀 Usage

Initialization

• Single Servo:

Single_Servo_init(myservo, servoPin);

• Multiple Servos:

Multi_Servos_init(myserv, servppins);

Speed-Controlled Movement

• Single Servo:

Speed_Control_Single(speed, target_angle, servoPin, myservo, &prev_sin);

• Multiple Servos:

Speed_Control_Multi(&speed, angles, servppins, myserv, &prev_mul);

Parameters:

• speed: 0–100 (adjustable speed)
• target_angle / angles[]: Desired positions (0–180°)
• servoPin / servppins[]: GPIO pin assignments
• myservo / myserv[]: Servo objects
• prev_sin / prev_mul: Timestamp memory for smooth motion

Optional: instat = true enables smooth transition, default is false for instant movement.

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🔄 Example Loop

void loop() {
    Speed_Control_Single(50, 180, servoPin, myservo, &prev_sin);
    Speed_Control_Multi(&speed, angles, servppins, myserv, &prev_mul);
}

• Single servo moves to 180° at medium speed.
• Multiple servos move according to angles[].

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⚠️ Notes

• Use an external power supply for multiple servos to avoid overloading the ESP32.
• Ensure common ground between ESP32 and servo power supply.
• Adjust interval in Speed_Control.h to refine motion smoothness.

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💡 Why Choose This Project

• Clean, modular, and professional-grade code
• Independent speed control for multiple servos
• Reduces mechanical wear with smooth motion
• Perfect foundation for robotics, automation, or advanced servo projects

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