thks Paul,
I commented out the offending string copy.
I upped baud, reduced size of buffer to 12 chars.
No noticeable difference in stutter yet. It happens mostly when I send a rush of numbers from mouse or kinect gesture, as if the whole communication chain just isn't keeping up. I may be just overwhelming the response time that the servos are capable of ? I haven't opened them up yet, but i think there's a little board in there with a few adjustments. I wonder now if I'm just sending the servo too much too fast before it can react and settle in it's destination.
I am sending ascii to arduino as
<P,300,100>
via python on PC:
stringy = "<P,{},{}>".format(x,y)
op('serial2').send(stringy)
// Example 5 - Receive with start- and end-markers combined with parsing
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
const byte numChars = 12;
char receivedChars[numChars];
//char tempChars[numChars]; // temporary array for use when parsing
// variables to hold the parsed data
char messageFromPC[numChars] = {0};
int integerFromPC = 0;
int Int2FromPC = 0;
boolean newData = false;
//============
void setup() {
Serial.begin(115200);
// Serial.println("This demo expects 3 pieces of data - text, an integer and an integer");
// Serial.println("Enter data in this style <HelloWorld, 12000, 24000> ");
// Serial.println();
pwm.begin();
pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
delay(10);
}
//============
void loop() {
recvWithStartEndMarkers();
if (newData == true) {
// strcpy(tempChars, receivedChars);
// this temporary copy is necessary to protect the original data
// because strtok() used in parseData() replaces the commas with \0
parseData();
// showParsedData();
newData = false;
}
}
//============
void recvWithStartEndMarkers() {
static boolean recvInProgress = false;
static byte ndx = 0;
char startMarker = '<';
char endMarker = '>';
char rc;
while (Serial.available() > 0 && newData == false) {
rc = Serial.read();
if (recvInProgress == true) {
if (rc != endMarker) {
receivedChars[ndx] = rc;
ndx++;
if (ndx >= numChars) {
ndx = numChars - 1;
}
}
else {
receivedChars[ndx] = '\0'; // terminate the string
recvInProgress = false;
ndx = 0;
newData = true;
}
}
else if (rc == startMarker) {
recvInProgress = true;
}
}
}
//============
void parseData() { // split the data into its parts
char * strtokIndx; // this is used by strtok() as an index
strtokIndx = strtok(receivedChars,","); // get the first part - the string
strcpy(messageFromPC, strtokIndx); // copy it to messageFromPC
strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
integerFromPC = atoi(strtokIndx); // convert this part to an integer
pwm.setPWM(0, 0, integerFromPC);
strtokIndx = strtok(NULL, ",");
Int2FromPC = atoi(strtokIndx); // convert this part to an int
pwm.setPWM(1, 0, Int2FromPC);
}
//============
void showParsedData() {
Serial.print("Message ");
Serial.println(messageFromPC);
Serial.print("Integer ");
Serial.println(integerFromPC);
Serial.print("INt2 ");
Serial.println(Int2FromPC);
}