So as well as the code for determine the position of the servos that you mentioned should i also remove this
for ( uint8_t i = 2; i < MIRROR; i++) // LIMITS: 150 HZ
{ // Electrical grid interference, Motor Vibration.
vremn = 0;
if ((x_r[0][i] != -1) && (x_r[1][i] != -1))
{
vremn = x_r[0][i] - x_r[1][i];
if (vremn > 1024) vremn -= 2048;
if (vremn < -1024) vremn += 2048;
vremn = (32 * vremn) / i;
vremn -= 256; // MIC Time Offset Correction (1 ADC, 25 usec delay).
if (lokaVect[directin][i] < vremn) lokaVect[directin][i] += srvoAccl[directin];
if (lokaVect[directin][i] > vremn) lokaVect[directin][i] -= srvoAccl[directin];
}
}
Or just a section of this, as it is filtering the motor sound right?
Thank you
John