Servo bug that would sometimes cause skipping.

damellis · damellis · commit 71e9ff63f8ae · 2012-05-08T20:38:38.000-04:00
http://code.google.com/p/arduino/issues/detail?id=908
diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp
@@ -89,7 +89,7 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
   }  
   else { 
     // finished all channels so wait for the refresh period to expire before starting over 
-    if( (unsigned)*TCNTn <  (usToTicks(REFRESH_INTERVAL) + 4) )  // allow a few ticks to ensure the next OCR1A not missed
+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
       *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);  
     else 
       *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed

Original file line number	Diff line number	Diff line change
`@@ -89,7 +89,7 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t`
`89`	`89`	`}`
`90`	`90`	`else {`
`91`	`91`	`// finished all channels so wait for the refresh period to expire before starting over`
`92`		`- if( (unsigned)*TCNTn < (usToTicks(REFRESH_INTERVAL) + 4) ) // allow a few ticks to ensure the next OCR1A not missed`
	`92`	`+ if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed`
`93`	`93`	`*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);`
`94`	`94`	`else`
`95`	`95`	`OCRnA = TCNTn + 4; // at least REFRESH_INTERVAL has elapsed`