setDegreeForAllServos parses parameters (degrees) as int, not float

[navdotnetreqs]

Hi and thanks for the library!

Something weird happens wen I try to use setDegreesForAllServos and this causes my servos to fly all over the place.
If I assign the ServoEasingNextPositionArray-elements one at a time directly, everything works as expected.
ServoEasing::ServoEasingNextPositionArray[i] = abs(theta[i + 1])
etc.

But if I assign them using setDegreeForAllServos, and then query the values, I get unexpected results.

Serial.printf("DE %f %f %f %f %f %f\n", abs(theta[1]), abs(180 - theta[2]), abs(theta[3]), abs(theta[4] + 90), abs(theta[5] + 90), abs(theta[6]));
setDegreeForAllServos(6, abs(theta[1]), abs(180 - theta[2]), abs(theta[3]), abs(theta[4] + 90), abs(theta[5] + 90), abs(theta[6]));
Serial.printf("SE %f %f %f %f %f %f\n", ServoEasing::ServoEasingNextPositionArray[0], ServoEasing::ServoEasingNextPositionArray[1].. )

Output:
DE 92.000000 115.000000 3.000000 90.000000 10.000000 16.000000
SE 1074266112.000000 0.000000 1079443456.000000 0.000000 1079820288.000000 0.000000

For even more interesting results:

std::array<float, THETAS> theta = {0, 92, 115, 3, 90,10, 16}; // [0] not in use
Serial.printf("DE %f %f %f %f %f %f\n", abs(theta[1]), abs(180 - theta[2]), abs(theta[3]), abs(theta[4] + 90), abs(theta[5] + 90), abs(theta[6]));
setDegreeForAllServos(6, abs(theta[1]), 180, (float)abs(theta[3]), theta[4], 90.0f, abs(theta[6]));
ServoEasing::ServoEasingNextPositionArray[0] = abs(theta[1]);
Serial.printf("SE %f %f %f %f %f %f\n", ServoEasing::ServoEasingNextPositionArray[0], ServoEasing::ServoEasingNextPositionArray[1], ServoEasing::ServoEasingNextPositionArray[2], ServoEasing::ServoEasingNextPositionArray[3], ServoEasing::ServoEasingNextPositionArray[4], ServoEasing::ServoEasingNextPositionArray[5]);

Output:

DE 92.000000 115.000000 3.000000 90.000000 10.000000 16.000000
SE 92.000000 0.000000 1079443456.000000 180.000000 1073421888.000000 0.000000

setDegreeForAllServos(6, 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f);

Does not work either. So an issue with va_arg.. ?

Board

• ESP32 board

IDE

• PlatformIO IDE

[navdotnetreqs]

Maybe this is relevant? https://stackoverflow.com/questions/11270588/variadic-function-va-arg-doesnt-work-with-float

[ArminJo]

Thanks for reporting. I fixed it in the new 3.2.1 release by adding function setFloatDegreeForAllServos().