serial_single_pulse_driver.ino

#include <Servo.h>
constexpr int instrument_pins[] = { 3, 5, 6, 9, 10, 11 };  // Expected to be used in Uno R3/R4
constexpr int numbers = sizeof(instrument_pins) / sizeof(int);
Servo instruments[numbers];

void setup() {
  for (int i = 0; i < numbers; i++) {
    instruments[i].attach(instrument_pins[i]);
  }
  Serial.begin(115200);
  while (!Serial)
    ;  // Wait for Serial (needed on some boards)
  Serial.println("connected");
}
void loop() {
  if (Serial.available()) {
    auto msg = Serial.readStringUntil('\n');
    processMessage(msg);
    delay(20);//need adjustment
    for (int i = 0; i < numbers; i++) {
      //flush all pins to ensure sending only single pulse
      instruments[instrument_pins[i]].writeMicroseconds(0);
    }
  }
}
char buffer[512];

int find_pins(int pin) {
  int res = -1;
  for (int i = 0; i < numbers; i++) {
    if (pin == instrument_pins[i]) {
      res = i;
    }
  }
  return res;
}

void processMessage(String msg) {
  // msg format: <pin1>,<dur1> <pin2>,<dur2> ... \n
  strcpy(buffer, msg.c_str());
  char* msg_head = &buffer[0];
  while (true) {
    auto pin = atoi(strtok(msg_head, ","));
    auto dur = atoi(strtok(NULL, " "));  //read w/ continue
    auto pin_count = find_pins(pin);
    if (pin_count >= 0) {
      instruments[pin_count].writeMicroseconds(dur);
      char msg[30];
      sprintf(msg,"write %d to pin %d", dur,pin);
      Serial.println(msg);
    }else{
      memset(buffer, '\0', sizeof(buffer));
      return;
    }
    msg_head = NULL;  // to continue reading with strtok
  };
}