Running methods simultaneously?

bulkhead

I have two methods- an "openRightArm()" and an "openLeftArm()" method, which increments PWM values in millisecond intervals to a servo, opening the arm in a period of roughly two seconds. Is there a way to get these two methods to run at the same time? Or do I have to combine the two methods into one so that both PWMs are updated in the same loop?

Peter Verkaik

Your best option is to update both in the same loop, using a timer.

static Timer t = new Timer();
static boolean armUpdate; //set this boolean when arms need update

static void main() {
· if (armUpdate) {
··· if (t.timeout(1)) { //1 msec timeout
····· t.mark();
····· updateLeftArm();
····· updateRightArm();
··· }
· }
· //other mainloop code here
}

regards peter