I am a newbie but after done some “homework” I looked back to
the photovore_v1 source code and I have questions in the
following portions of the code. in the header (.h) file… void
delay_cycles(unsigned long int cycles) while(cycles > 0) void
servo_left(signed long int speed) PORT_OFF(PORTD, 0);//keep off
void servo_right(signed long int speed) PORT_OFF(PORTD,
1);//keep off and in the c file... delay_cycles(500);//a small
delay to prevent crazy oscillations The questions are: a) Why do
we have the command “delay_cycles(200) after turning port D to
zero? Why is it necessary? b) From my readings on servo-motor
specs, I believe that the signal that we are sending to the
motor, such as 1.5 ms of high voltage, must be “modulated” in a
50 ms signal. Therefore, if we send a 1.0 ms of high voltage
making the motor to go full left position, then we need to make
the next 49 ms with low voltage and then after it, and repeat
this sequence over and over again if you want to keep this
position. If we apply 2.0 ms of high v