Object tracking servo jitters... in only one direction?
March 30, 2011
I've come across a problem during the fine-tuning of my object tracker. When the "neck" servo is steadily decending positions (turning to the left) the movement is smooth, even with decrements > 1. It acts completely different when turning right. There is a distict pause between each SERVOPOS and I noticed it takes longer to process a debug cycle as well. The head shakes, rattles and rolls, the values used to adjust turning speed based on object distance are insufficient, and it just looks terrible. Like I made me a reject robot piece from a Herbie Hancock video.
Things I've done:
- replaced the servo
- swapped servo pins
- checked voltages (servos on their own L7806, rest on 7805)
- did all sorts of changes to the code to try and eliminate the hiccup
- ran it at 8MHz
- stared at debug endlessly
None of it changed the results. I should note that if I plug in a very simple min-position-to-max-position-sweeping program the jitter seems to go away. Maybe something in my code makes it slow? I've tried to make each direction routine exactly the same, process wise. I don't know, I've been staring at it too long. Any input would be epic.