[嵌入式]单片机同时控制多个舵机（ESP8266)

Talk is cheap, show you code!

/*
 * @Function：control 4 servos at the same time, and by this way, theoretically, you can
 * control more than 4 as long as the pin numbers allowed. 
 * @device： ESP8266 
 * @platform: Arduino IDE
 * @author:Feng 2022/2/3/16:19
 */
#define SERVOPORT0 16//D0
#define SERVOPORT1 5//D1
#define SERVOPORT2 4//D2
#define SERVOPORT3 2//D4

struct SERVO
{
  uint8_t port_id;
  uint16_t angle;
  uint16_t t;
};

SERVO servo[4]; 

void servo_init()
{
  pinMode(SERVOPORT0,OUTPUT);
  pinMode(SERVOPORT1,OUTPUT);
  pinMode(SERVOPORT2,OUTPUT);
  pinMode(SERVOPORT3,OUTPUT);

  servo[0].port_id=SERVOPORT0;
  servo[1].port_id=SERVOPORT1;
  servo[2].port_id=SERVOPORT2;
  servo[3].port_id=SERVOPORT3;
}


void setup() {
  // put your setup code here, to run once:
  servo_init();
  Serial.begin(115200); 
}

void loop() {
  // put your main code here, to run repeatedly:
  int angle1,angle2,angle3,angle4;
  for(int i=0;i<=180;i++)
  {
    angle1=i;
    angle2=180-i;
    angle3=i;
    angle4=180-i;
    servo_angle(angle1,angle2,angle3,angle4);
  }
}

void servo_angle(uint16_t angle1,uint16_t angle2,uint16_t angle3,uint16_t angle4)
{
  uint16_t i,j;
  SERVO temp,servo_copy[4];
  
  servo[0].angle=angle1;
  servo[1].angle=angle2;
  servo[2].angle=angle3;
  servo[3].angle=angle4;
  
  for(i=0;i<4;i++)
  {
    servo[i].t = 11.1111*servo[i].angle+500;
  }

  for(i=0;i<4;i++)
  {
    servo_copy[i] = servo[i];
  }
  
  for(i=0;i<3;i++)
  {
    for(j=i+1;j<4;j++)
    {
        if(  servo_copy[i].angle > servo_copy[j].angle )
        {
           temp = servo_copy[i];
           servo_copy[i] = servo_copy[j];
           servo_copy[j] = temp;
        }      
    }
  }
  //Serial.printf("%d,%d,%d,  %d,%d,%d,   %d,%d,%d,   %d,%d,%d\n",servo_copy[0].port_id,servo_copy[0].angle,servo_copy[0].t,  servo_copy[1].port_id,servo_copy[1].angle,servo_copy[1].t, servo_copy[2].port_id,servo_copy[2].angle,servo_copy[2].t, servo_copy[3].port_id,servo_copy[3].angle,servo_copy[3].t);//Debug
  byte count=20;
  while(count--)
  {
    digitalWrite(SERVOPORT0,HIGH);
    digitalWrite(SERVOPORT1,HIGH);
    digitalWrite(SERVOPORT2,HIGH);
    digitalWrite(SERVOPORT3,HIGH);   
    delayMicroseconds(servo_copy[0].t);
    digitalWrite(servo_copy[0].port_id,LOW);    
    delayMicroseconds(servo_copy[1].t-servo_copy[0].t);
    digitalWrite(servo_copy[1].port_id,LOW);    
    delayMicroseconds(servo_copy[2].t-servo_copy[1].t);
    digitalWrite(servo_copy[2].port_id,LOW);    
    delayMicroseconds(servo_copy[3].t-servo_copy[2].t);
    digitalWrite(servo_copy[3].port_id,LOW);    
    delayMicroseconds(20000-servo_copy[3].t); 
  }
}