In the logic analyzer screenshot below the green and yellow channels show the I2C traffic for the single servo update. The duration is annotated in the window on the right. The duration is approx 3ms. This doesn't sound a lot. However a typical leg move will require updates to at least 3 servos and possibly upto 9. That means a min of 18ms for all servos to be updated. Sequencing a smooth motion with a 18ms+ latency will not be effective.
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Time annotation showing duration of 1 servo update |
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MODE1 Register |
The foot note describes the following...
When the Auto Increment flag is set, AI = 1, the Control register is automatically incremented after a read or write. This allows the user to program the registers sequentially.
I wanted to see the effect of using the auto increment function by setting this flag. The datasheet provides an example of using this with the flag clear.
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Write all registers |
I ran a test setting all the registers from register 0 as per the datasheet example to evaluate the time take. The screen shot below from the Saleae logic analyzer shows the I2C traffic. The time for writing all 69 registers is 6.5ms compared to 3ms for 4 registers individually. This is a significant improvement and will be way more effective for creating smoother motions when animating the servos to perform leg movements.
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Time annotation showing duration of sequential 16 servo update |
The Salae logic analyzer will help determine the what will happen to the servo outputs. I will post an update once I have the test results. I have checked in the code used to test this use case. It obviously will need further updates once the optimization testing is done.
Hey, would you mind if I share your blog with my twitter group? There’s a lot of folks that I think would enjoy your content. Please let me know. Thank you.
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