>> Following my tests with PWM generation using GPIO in user space [1], >> I've made the RTDM module [2] to further reduce the jitter. As a >> result, jitter was improved, but still under heavy system load the >> servo motor I am trying to control starts shaking. Now, I fill stuck >> and hope to get some help here. > > What jitters in micro-seconds are you speaking about? What are you > requirements? I have not found that information yet in this thread.
The short answer is - I do not know exactly :-) . The long answer is - my goal is to keep servo motor stable under the high system load. I was unable to find any concrete numbers regarding the tolerance level of the no-name servo motor. So I am just experimenting. My recent observations, presented in the blog I've mentioned in the original post, suggest that 20-30micro-seconds jitter will force my concrete servo to start the movements. I was unable to further reduce jitter, so maybe this number is actually lower. I will try to implement what Gilles suggested (using timer api) and see if I can a) further reduce jitter; and b) if this jitter will be small enough to prevent servo from shaking. Andrey. _______________________________________________ Xenomai-help mailing list Xenomai-help@gna.org https://mail.gna.org/listinfo/xenomai-help
