From 0f2b25b24227786fa280dc7ae8a6db2cbfcaaa1b Mon Sep 17 00:00:00 2001
From: Andrea Manni <andrea@piffa.net>
Date: Wed, 5 Apr 2017 18:16:33 +0200
Subject: [PATCH] Servo rotation now is progressive

---
 libraries/rover/library.properties |  2 +-
 libraries/rover/rover.cpp          | 33 ++++++++++++++++++++++--------
 2 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/libraries/rover/library.properties b/libraries/rover/library.properties
index a5641e8..9af0ea1 100644
--- a/libraries/rover/library.properties
+++ b/libraries/rover/library.properties
@@ -4,6 +4,6 @@ author=Andrea Manni <andrea@piffa.net>
 maintainer=Andrea Manni <andrea@piffa.net>
 sentence=Funzioni specifiche per rover
 paragraph=Funzioni da richiamare negli sketch per rover
-category=Robots
+category=Device Control
 url=https://piffa.net
 architectures=*
diff --git a/libraries/rover/rover.cpp b/libraries/rover/rover.cpp
index d95fe06..b02e8cb 100644
--- a/libraries/rover/rover.cpp
+++ b/libraries/rover/rover.cpp
@@ -1,5 +1,5 @@
 /*
-  Rover 
+  Rover
 
 Autore: Andrea Manni
 
@@ -26,10 +26,12 @@ const int in4 = 3;
 byte speedB = 255;
 
 // Servo vars
-int pos = 0;    // variable to store the servo position 
+int pos = 0;    // variable to store the servo position
 const byte servoPIN =9 ;
 const byte middle = 90; // Centratura servo
-const int spausa = 30; // Pausa movimenti servo
+const int spausa = 10; // Pausa movimenti servo
+const byte sx = 10;  // Min SX
+const byte dx = 170; // Maz DX
 Servo myservo; // Non c'e' bisogno di extern se e' dichiarato in questo scope
 
 ////////////////////////
@@ -121,15 +123,28 @@ void stopB() {
 // Servo
 void turnDX() {
     // TurnDX
-    myservo.write(170);
+    while (pos < dx) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
 }
-    
+
 void turnSX() {
     // TurnSX
-    myservo.write(10);
+    while (pos > sx) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
 }
 
-void turnMiddle() { 
-    // TurnDX
-    myservo.write(middle);
+void turnMiddle() {
+    // Middle
+    while (pos > middle) {
+        myservo.write(pos--);
+        delay(spausa);
+    }
+    while (pos < middle) {
+        myservo.write(pos++);
+        delay(spausa);
+    }
 }
-- 
2.39.2