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CODE UPDATE: Servo32v9 — Parallax Forums

CODE UPDATE: Servo32v9

Beau SchwabeBeau Schwabe Posts: 6,566
edited 2013-05-11 07:15 in Propeller 1
A bug was recently found in the Servo32 object causing a rare but periodic 'glitch' or servo jerk.

This was caused by how the code handled a cnt rollover. The solution was to utilize one of the cog counters and use the Phase Accumulator instead of the system counter.




History:
Version 1 - initial concept

Version 2 - (03-08-2006) Beta release

Version 3 - (11-04-2007) Improved servo resolution to 1uS

Version 4 - (05-03-2009) Ability to disable a servo channel
and remove channel preset requirement

Version 5 - (05-08-2009) Added ramping ability

Version 6 - (07-18-2009) Fixed slight timing skew in ZoneLoop and
fixed overhead timing latency in ZoneCore

Version 7 - (08-18-2009) Fixed servo jitter in ramping function when
servo reached it's target position

Version 8 - (12-20-2010) Added PUB method to retrieve servo position

Version 9 - (04-05-2013) cnt rollover issue corrected with ZonePeriod
by setting up Counter A and using the Phase
accumulator instead of the cnt

Note: This also eliminates the need to setup
a 'NoGlitch' variable

Comments

  • dbpagedbpage Posts: 217
    edited 2013-04-12 10:18
    Beau,
    Do you plan to upload this update to OBEX?
  • Beau SchwabeBeau Schwabe Posts: 6,566
    edited 2013-04-12 10:34
    Dennis,

    "Do you plan to upload this update to OBEX?" - The OBEX is undergoing a makeover ... when it is 'fixed' I will update the OBEX.
  • Oldbitcollector (Jeff)Oldbitcollector (Jeff) Posts: 8,091
    edited 2013-04-12 13:12
    Beau Schwabe (Parallax) wrote: »
    Dennis,

    "Do you plan to upload this update to OBEX?" - The OBEX is undergoing a makeover ... when it is 'fixed' I will update the OBEX.

    Uh oh... Someone just let the cat out of the bag.. :) You can place both of those if you want, I won't be that far down the list until Tuesday. Just CC me a note if you do.

    Jeff
  • Beau SchwabeBeau Schwabe Posts: 6,566
    edited 2013-04-12 13:29
    Hey Jeff,

    I'm not even sure that I knew who was doing it, ... just that it was being done. Didn't mean to let the cat out of the bag, I thought this was already NEWS.
  • Roy ElthamRoy Eltham Posts: 3,000
    edited 2013-04-12 13:30
    Woot! Obex going through a makeover is huge! Go, Jeff, Go! :D
  • Oldbitcollector (Jeff)Oldbitcollector (Jeff) Posts: 8,091
    edited 2013-04-12 13:44
    As long as the URL stays secret for now, I don't think it'll be a big deal that this secret got out. :) Just thought it was funny that you were the one to spill the beans. :):)

    Jeff
  • kuronekokuroneko Posts: 3,623
    edited 2013-05-11 07:15
    Another (minor) [post=1183083]issue[/post] came up which needs to be fixed.
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