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Neon22 2014-01-13 00:20:22 -08:00
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Servos.md

@ -66,9 +66,9 @@ Where S = number of servos and R = rate of update in Hz.
2. Have a software interrupt routine per Timer which interrupts R times a second and:
* steps to the next servo in the list of servos for that Timer
* calls the python class function to calculate the pulse width for that servo.
* sets the PWM freq to proper pulse width
* outputs the pulse on correct pin
* reads the pin and pulse_width required for that servo from the python class.
* sets the PWM freq to that pulse width
* outputs the pulse on correct pin using anoeyhr s/w interrupt or hardware timer.
* sleeps
The top level python structure sets the servo instances up and adds them to a servo pool. Which manages how many servos are in a Timer queue and setting up and activating the timer interrupt routines.