Experimental OSR firmware (release 2.5)

Hi guys,

I've been doing some coding and I've produced something that I think is pretty cool, but I'd like your feedback.

Up until now the OSR firmware, which is loaded onto the Romeo Microcontroller, has been based around the default Arduino servo library. This has the advantage that it is pretty robust, however it is also restricted to a servo update rate of 50 Hz. Well, unless you are willing to start poking around in the servo library code.

Sending updates from the Arduino to the servos 50 times a second might sound fast, but I have been told that the movement can at times be quite rough, particularly for fast movements and for higher end servos. In this experimental code I have basically written my own little servo library, which should function at servo frequencies up to 250Hz. The result should be much smoother movements during operation, even if the T-Code input rate is relatively low. It seems to work well on my prototype, but I need some more feedback.

I am putting this out as an exclusive early-access release because I put a lot of hours into making this work and I am very pleased with the result, but also because I am not sure whether to use this for future releases, or to go back to the standard Arduino library. As my supporters you guys are along for the ride with me, so I would love to hear your thoughts so I can best make the decision. I need to know if this code makes the experience better compared with previous versions. I also need to know if it is buggy or has other problems I haven't yet identified.

In this code I am also trialing giving users easy access at the top of the code to some of the working values, such as the pin definitions and servo zero positions.

This is all ahead of moving to release 3.0, for which I intend to re-write the T-code receiver code. I also have plans to get the T-Code firmware up onto GitHub in the near future, with the help of some of the guys from my Discord server.

Enjoy!