Hi,

I'm in the process of developing the brain for my robot, it's a 12 servo quadruped using an 80c320, 24Mhz chip, with 32K RAM

I understand that you need to pulse a servo line between 1.5ms to 2.5ms, and this must be repeated every 20ms.

I have written a timer to fire every 20ms, then switched all the lines for the servos on.

I then have an array of values for each of the servos which is decremented after a short delay, when a value hits zero the servo line is switched back off again.

Is it a bad idea to sleep for 1.5ms inside the timer interrupt?

This also means that I'm in the interrupt for over 2.5ms - is this a potential problem?

I could run 2 timers, one firing every 20ms and the other going off every 22.5ms. The first switching the servo lines off, and the second switching them all off again. Would this be better?

Chris.