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User Servo


JohnR
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From a user servo how can I execute a standard servo algorithm like Sys.ServoCtrl ?

 

Is it as simple as

 

double (*servo)(struct MotorData *Mptr);

double myServoOut;

 

servo = pshm->ServoCtrl;

myServoOut = servo(Mptr);

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Even simpler

 

double user_pid_ctrl(MotorData *Mptr)

{

// Your custom super duper filter probable more than incrementing a P variable

pshm->P[100] += 1.0;

// The default servo algo.

return pshm->ServoCtrl(Mptr);

}

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