Society of Robots - Robot Forum

I can't find it called about whitch function control servos!

I assume it's the "orient(0,t,0);//rotate_speed, trans_angle, trans_speed" function.

void main()

{

   long int t=0;

   //initialization

   cereb_init();

   scan(-totalangle/3+scanmod);

   while(!button(A));



   while(1)//code below here only

      {

      sensor_read();//sense

      interpretworld();//plan

      //orient(rotate_speed,trans_angle,0);//speed modified in transpathplan



      //printf("rot:%ld tangle:%ld magnitude:%d\r\n", rotate_speed, trans_angle, trans_speed);

      IRprintmap();



      delay_ms(200);



      //circle test

      /*printf("%ld\r\n",t);

      orient(0,t,0);//rotate_speed, trans_angle, trans_speed

      delay_ms(11);

      t++;

      if (t==360)

         t=0;*/

      }

    while(1);

}

This main function is copy from "PIC 16F877 source code for omni-wheel robots" .
I can't find it called about whitch function control servos!
Can you help me understand this source code? Thanks! 

Source code url: http://www.societyofrobots.com/downloads/fuzzy_C_source_code.zip

Not yet. Maybe tomorrow.

...   
int minPulse     =  600; 
int maxPulse     =  2400;
...

I thought that servos were designed to work in the range 1000-2000, with a margin allowing a wider range, such as 900-2100, or a little more. But 600-2400 looks too much. But, maybe the problem is elsewhere.

I have experienced a problem like that with a small servo. It was shaking when with some pulses, and not shaking with other pulses. Besides, when the servo was shaking, I was able to make it stand still with a little push of my hand. The problem was due to a weak servo, because, when I replaced it with another one, the problem did not occur again.

Maybe it is a French-German-Russian power connector, but they don't have a screw thread.