need help troubleshooting AudioShield and ServoTimer2 library

Hi all,
If this topic belongs somewhere else, please move it for me. This seemed like a good starting point.

I’m trying to make a “talking robot” using the Adafruit AudioShield and a servo. Seemed like a simple enough project. But, I cannot get the AudioShield and the servo to play nice together. I Googled about and discovered that I need to use the ServoTimer2 library, but no luck. I’m using an UNO, Arduino 1.0, and v1.1 of the Audio Shield. Independently, the AudioShield library and the ServoTimer2 library work fine on my board with my setup. But when I put them together in the same sketch, the servo simply stutters and twitches.

Here’s my code, not entirely fleshed out, but you will get the idea:

#include <FatReader.h>
#include <SdReader.h>
#include <avr/pgmspace.h>
#include "WaveUtil.h"
#include "WaveHC.h"

//Servo library
//#include <Servo.h>
#include "ServoTimer2.h"

SdReader card;    // This object holds the information for the card
FatVolume vol;    // This holds the information for the partition on the card
FatReader root;   // This holds the information for the filesystem on the card
FatReader f;      // This holds the information for the file we're play

WaveHC wave;      // This is the only wave (audio) object, since we will only play one at a time

#define DEBOUNCE 100  // button debouncer

// this handy function will return the number of bytes currently free in RAM, great for debugging!   
int freeRam(void)
{
  extern int  __bss_end; 
  extern int  *__brkval; 
  int free_memory; 
  if((int)__brkval == 0) {
    free_memory = ((int)&free_memory) - ((int)&__bss_end); 
  }
  else {
    free_memory = ((int)&free_memory) - ((int)__brkval); 
  }
  return free_memory; 
} 

void sdErrorCheck(void)
{
  if (!card.errorCode()) return;
  putstring("\n\rSD I/O error: ");
  Serial.print(card.errorCode(), HEX);
  putstring(", ");
  Serial.println(card.errorData(), HEX);
  while(1);
}

//Button setup///////////////////////////////////////////////////////
const int buttonPin = 6;
const int ledPin = 13;

int buttonState = 0;
//counts up through tracks
int trackStep = 1;
//number of tracks
int trackCount = 18;

//Servo Setup/////////////////////////////////////////////////////////



ServoTimer2 servoMouth;
//Servo servoMouth;

int pos = 0;

//SETUP////////////////////////////////////////////////////////////////
void setup() {
  // set up serial port
  Serial.begin(9600);
  putstring_nl("WaveHC with 6 buttons");
  
   putstring("Free RAM: ");       // This can help with debugging, running out of RAM is bad
  Serial.println(freeRam());      // if this is under 150 bytes it may spell trouble!
  
  // Set the output pins for the DAC control. This pins are defined in the library
  pinMode(2, OUTPUT);
  pinMode(3, OUTPUT);
  pinMode(4, OUTPUT);
  pinMode(5, OUTPUT);
 
  // pin13 LED
  pinMode(13, OUTPUT);
 
  pinMode(buttonPin, INPUT);
  
  //servo stuff
  servoMouth.attach(9);
  
  
 
  //  if (!card.init(true)) { //play with 4 MHz spi if 8MHz isn't working for you
  if (!card.init()) {         //play with 8 MHz spi (default faster!)  
    putstring_nl("Card init. failed!");  // Something went wrong, lets print out why
    sdErrorCheck();
    while(1);                            // then 'halt' - do nothing!
  }
  
  // enable optimize read - some cards may timeout. Disable if you're having problems
  card.partialBlockRead(true);
 
// Now we will look for a FAT partition!
  uint8_t part;
  for (part = 0; part < 5; part++) {     // we have up to 5 slots to look in
    if (vol.init(card, part)) 
      break;                             // we found one, lets bail
  }
  if (part == 5) {                       // if we ended up not finding one  :(
    putstring_nl("No valid FAT partition!");
    sdErrorCheck();      // Something went wrong, lets print out why
    while(1);                            // then 'halt' - do nothing!
  }
  
  // Lets tell the user about what we found
  putstring("Using partition ");
  Serial.print(part, DEC);
  putstring(", type is FAT");
  Serial.println(vol.fatType(),DEC);     // FAT16 or FAT32?
  
  // Try to open the root directory
  if (!root.openRoot(vol)) {
    putstring_nl("Can't open root dir!"); // Something went wrong,
    while(1);                             // then 'halt' - do nothing!
  }
  
  // Whew! We got past the tough parts.
  putstring_nl("Ready!");
}

/////////////////////LOOP///////////////////////
void loop() {
    
  buttonState = digitalRead(buttonPin);
  if (buttonState == HIGH) {
    digitalWrite(ledPin, HIGH);
    playTrack(trackStep);
    trackStep++;
    if (trackStep >= 18){
      trackStep = 1;
    }
  }
  else {
    digitalWrite(ledPin, LOW);
  }
}

//playTrack()/////////////////////////////////////////////////////////////
void playTrack(int trackStep){

  switch (trackStep) {
    case 1:
      playcomplete("001.WAV");
      
      servoSweep(90,5,90,5);
      servoSweep(60,7,60,5);
      servoSweep(45,5,45,7);
      
      break;
    case 2:
      playcomplete("002.WAV");
      break;
    case 3:
      playcomplete("003.WAV");
      break;
    case 4:
      playcomplete("004.WAV");
      break;
    case 5:
      playcomplete("005.WAV");
      break;
    case 6:
      playcomplete("006.WAV");
      break;
    case 7:
      playcomplete("007.WAV");
      break;
    case 8:
      playcomplete("008.WAV");
      break;
    case 9:
      playcomplete("009.WAV");
      break;
    case 10:
      playcomplete("010.WAV");
      break;
    case 11:
      playcomplete("011.WAV");
      break;
    case 12:
      playcomplete("012.WAV");
      break;
    case 13:
      playcomplete("013.WAV");
      break;
    case 14:
      playcomplete("014.WAV");
      break;
    case 15:
      playcomplete("015.WAV");
      break;
    case 16:
      playcomplete("016.WAV");
      break;
    case 17:
      playcomplete("017.WAV");
      break;
    case 18:
      playcomplete("018.WAV");
      break;
    
  }
  
}


// Plays a full file from beginning to end with no pause.
void playcomplete(char *name) {
  // call our helper to find and play this name
  playfile(name);
  while (wave.isplaying) {
  // do nothing while its playing
  }
  // now its done playing
}

void playfile(char *name) {
  // see if the wave object is currently doing something
  if (wave.isplaying) {// already playing something, so stop it!
    wave.stop(); // stop it
  }
  // look in the root directory and open the file
  if (!f.open(root, name)) {
    putstring("Couldn't open file "); Serial.print(name); return;
  }
  // OK read the file and turn it into a wave object
  if (!wave.create(f)) {
    putstring_nl("Not a valid WAV"); return;
  }
  
  // ok time to play! start playback
  wave.play();
}


//Servo Function/////////////////////////////////////////////////////////////
void servoSweep(int mouthOpen, int openDelay, int mouthShut, int shutDelay){
  
  for(pos = 0; pos < mouthOpen; pos += 1)  
  {                                   
    servoMouth.write(pos);               
    delay(openDelay);                    
  } 
  for(pos = mouthShut; pos>=1; pos-=1)   
  {                                
    servoMouth.write(pos);               
    delay(shutDelay);                        
  } 
   
   
  
}

Any help is greatly appreciated.

Hi,

The Wave shield uses digital pins 2, 3, 4, 5 & 10, 11, 12, 13 (if you constructed it without choosing others) which means you potentially have a clash between your LED pin on D13 and the shield. I think your use of D9 for the servo and D6 for the button are good though.

I've not tried the servotimer2 library with the Wave shield installed but it does warn that it interferes with some PWM functionality and it does use the Arduino's internal timer interrupt (as does the Wave shield) so there's potential for a clash. Might be worth posting a question over at the Adafruit support forum for confirmation though.

Cheers ! Geoff

Its also worth asking how are you powering this set up ? the servo really should have its own power, if it does not you might get away with it with the Audio sheild doing anything and as you know, you have a problem when you do ask it to and the servo is connected.

For some background, demonstration and suggested fixes see the links in my signature.

Duane B