Some phenomenons in my experiment.

kevinspace

Hello, everybody.
After my test, I discover there are some phenomenons in my experiment.
This is my program1:

And this is my program2:

Above the description, I discovered the results of the program1 and program2 which were different.

Could anybody explain the phenomenon?

This is my test code
code.rar

Thanks a lot.

JasonDorie

I haven't looked too closely at the code, but in both cases you are starting the controller for Servo #2 before you tell Servo #1 where to go, and are updating both servos every 5 seconds. Since you start the Servo #2 controller very shortly before the code for Servo #1, Servo #2 lags behind by 5 seconds.

The code in Control_servo2 is running in parallel with the code in Control_servo1 immediately after the coginit function, so Control_servo2 is calling SERVO.SetRamp at the same time the Servo1 function is calling SERVO.Start, and so on.

Your code is running like this:

Servo1          Servo2

                Start
                Get position of Servo1  (notice that Servo1 hasn't even started running yet)
                Move to that position

Move to 1500

                Wait 5 seconds
Wait 5 seconds

                Get position of Servo1
                Move to that position
Move to 2300

                Wait 5 seconds
Wait 5 seconds