Reduce Delay for Servos ,connected to PWM

Other Hardware Motors, Mechanics, Power and CNC
1

Hey all
I have got an Arduino mega 2560, and I have connected 4 servo's to the PWM pins( 4-7) . I am using the servo libary to move my servos, however if i am reducing the delay less then 500 ms than it doesn't work. Is there a way to reduce the delay? ( I need a response in the surrounding of 200ms).

Thanks Naty
Attaching the code :

#include <Servo.h>

Servo RetServoL;
Servo AngServoL;
Servo RetServoR;
Servo AngServoR;
void setup() {
pinMode(13,OUTPUT);
  #define POT_PIN_L           0
#define POT_PIN_R           1


  pinMode(1,OUTPUT);
  
  AngServoL.attach(4);
   RetServoL.attach(6); //analog pin 1
    AngServoR.attach(5);
   RetServoR.attach(7); //analog pin 1  
  Serial.begin(19200);
  Serial.println("Ready");

}
     int potValR ;
    int potValL;
    int RetServoLneu=90;
    int Retrection=60;
       int potNeuVal=508;
       int potThresh=10;
       int retState=0;
void loop() 
{
  AngServoL.write(100);
  AngServoR.write(90);

      potValL = analogRead(POT_PIN_L);
      potValR = analogRead(POT_PIN_R);
/*if (abs(potValL - potNeuVal) < potThresh) {
  RetServoL.write(RetServoLneu-Retrection);
 digitalWrite(13,HIGH);
  delay(10000);
      potValL = analogRead(POT_PIN_L);
} if (abs(potValL - potNeuVal) < potThresh) {
RetServoL.write(RetServoLneu+Retrection);
 //  digitalWrite(13,LOW);
delay(10000);
}
*/

  if (abs(potValL - potNeuVal) < potThresh){
    retState = 1 - retState;
    digitalWrite(13,HIGH);
  if (retState == 1){
    RetServoL.write(RetServoLneu-Retrection);
   delay(500);
  }
  else{
    RetServoL.write(RetServoLneu+Retrection);
 delay(500);
  }
}
  if (abs(potValR - potNeuVal) < potThresh){
    retState = 1 - retState;
    digitalWrite(13,HIGH);
  if (retState == 1){
   RetServoR.write(RetServoLneu-Retrection);
 delay(500);
  }
  else{
    RetServoR.write(RetServoLneu+Retrection);
 delay(500);
  }
}

 
//  Servo::refresh();
 pinMode(POT_PIN_R, INPUT);
  pinMode(POT_PIN_L, INPUT);


 potValR = analogRead(POT_PIN_R);            

  
    Serial.print("\n PotR = " );                       
  Serial.print(potValR);      
  Serial.print("\t PotL = " );                       
  Serial.print(potValL);   
}
2

It looks like your code toggles 'retState' between 0 and 1 whenever either of the pots is within 10 counts of 'potNeuVal'. As the value toggles the servos switch between 150 and 30.

That makes on sense to me. What did you intend the code to do?

3

That's what I have intended. I got this fairly complicated mechanical mechanism. At the start I don't know which way do I need my servo to go( 30 or 150)
So what I am trying to do is to get the servo to one side (say 150), see if the pot has changed, and if not I need to move the servo to the other side (let's say 30).
What happens next is that my robot get's hit, the pot spring is loosened and I am back to square one.
Hope that clarify it a bit.