Optimize 2 servo control program

[jptalledo]

Hi everyone

I will post my code to control 2 servos using timer0 and two variables : Posservo0 and Posservo1 to control the pulse for each servomotor
please if someone could help me to optimize the code I will be very pleased.

Thanks

#include <16F876A.h>
#device adc=8
#use delay(clock=20000000)
#fuses NOWDT,HS, PUT, NOPROTECT, NODEBUG, NOBROWNOUT, NOLVP, NOCPD, NOWRT
#use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8)

#include "C:\Documents and Settings\Jean Paul\My Documents\servo.h"
#include <stdio.h>
#include <string.h>

#define PinServo0 PIN_B4
#define PinServo1 PIN_B5

int PosServo0;
int PosServo1;
int flag;


int i = 0;
int j;

#int_TIMER0
TIMER0_isr()
{
output_high(PinServo0);
output_high(PinServo1);

delay_us(800);

flag=0;
i=0;
j=0;

while(flag==0)
{
delay_us(5);
i=i+1;

if (i==PosServo0)
{
output_low(PinServo0);
j=j+1;
}


if (i==PosServo1)
{
output_low(PinServo1);
j=j+1;
}


if (j==2)
flag=1;
}

}



void main()
{
byte Sync = 0; // 0xFF
byte ServoNo = 0; // 1 - 255


setup_adc_ports(NO_ANALOGS);
setup_adc(ADC_OFF);
setup_spi(FALSE);
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_128);
enable_interrupts(INT_TIMER0);
enable_interrupts(GLOBAL);


PosServo0 = 127; // default servo pos

output_low(PinServo0);

while (TRUE)
{

if (kbhit())
{
Sync = getc();

if (Sync==0xFF)
{
PosServo0= getc();
PosServo1= getc(); // 0-255
}
}




}

}

[Trampas]

First look at the fast I/O capabilities of CCS.

Second consider redesigning program, that is having a delay function in a ISR may not be the best method.

Second where possible instead of using ints for variables like flag, use a bit. This may take less time for if(flag==0).

Of course the biggest thing is look at the assembly generated and play with the code.

Trampas