RP6Control M32: Library für 8 Servos

Wunderbar! :cool:

@SlyD: Ja, ich bin auch begeistert :cool:

@Dirk: Ist das bei dir vielleicht auch ein aehnliches Problem? Ich habe jetzt noch 2 weitere Servos angeschlossen an PD6/T1 und PD4/ICP1 und die laufen.

Soll ich dann die Lib hier posten bzw. vorher noch mit 8 testen? (hab blos gerade nur 5 zur Hand)

Super, dass es bei dir funktioniert!

Stell doch deine Lib ruhig hier ein! Müßte ja jetzt alles klappen!

Ich weiss jetzt, dass ich auch ein Stromversorgungsproblem hatte. Mit getrennter Stromversorgung klappt alles! (Schreibe ich ja in der Lib auch ausdrücklich,- halte mich aber selbst beim Testen nicht dran,- zzz).

Hier mal die 8-Servo-Lib fuer das M256 WiFi - Modul.

Konnte es nicht lassen meinen Nick mit in den Comment-Header zu schreiben ;)

Hab auch noch die Comments an sich ein bisschen angepasst.

Alle Servos koennen also an den IO_PWM/T0/T1 - Stecker angeschlossen werden:

Code:

---

Stecker IO_PWM/T0/T1
        _______
Vdd    <-|10  9| -> Servo1
Servo6 <-| 8  7| -> Servo2
Servo7 <-| 6  5| -> Servo3
Servo8 <-| 4  3| -> Servo4
Ground <-| 2  1| -> Servo5
        -------

---

Das ist nach belieben Veraenderbar.

Und nicht vergessen: Externe Spannungsquelle fuer die Servos & die Masse dieser Quelle mit der Masse (Ground) des Roboters Verbinden!

RP6ControlServo.c

Code:

---

// Uncommented Version of RP6ControlServo.c
// written by Dirk / converted to WiFi Module M256 by MM2forever
// ------------------------------------------------------------------------------------------
// https://www.roboternetz.de/community/threads/40090-RP6Control-M32-Library-f%C3%BCr-8-Servos/page9?p=571435#post571435
// ------------------------------------------------------------------------------------------

#include "RP6M256Lib.h"
#include "RP6ControlServoLib.h"

uint16_t pos = 0;
uint16_t input;


void demo(void)
{

        if (getStopwatch2() > 24) {
                        servo1_position = pos;
                        servo2_position = pos;
                        servo3_position = pos;
                        setCursorPosLCD(0, 0);
                        writeStringLCD_P("Servopos.: ");
                        writeIntegerLCD(pos, DEC);
                        writeStringLCD_P("  ");

                        pos++;
                        if (pos > RIGHT_TOUCH) {pos = 0;}
                        setStopwatch2(0);
                }
}


int main(void)
{ 
        initRP6M256();

        initLCD();

        showScreenLCD("################", "################");
        mSleep(1500);
        showScreenLCD("<<RP6  Control>>", "<<LC - DISPLAY>>");
        mSleep(2500);
        showScreenLCD(" Servo - Test 1 ", "  Version 1.00  ");
        mSleep(2500);
        clearLCD();

        setLEDs(0b111111);
        mSleep(500);
        setLEDs(0b000000);
       
        initSERVO(SERVO1 | SERVO2 | SERVO3);


        startStopwatch2();
       
        while(true) 
        {

                demo();

                task_SERVO();

                mSleep(3);
        }
        return 0;
}

---

RP6ControlServoLib.c

Code:

---

/* ****************************************************************************
 *                          _______________________
 *                          \| RP6  ROBOT SYSTEM |/
 *                            \_-_-_-_-_-_-_-_-_-_/            >>> RP6 CONTROL
 * ----------------------------------------------------------------------------
 * ------------------ [c]2008/2013 - Dirk / MM2forever ------------------------
 * ****************************************************************************
 * File: RP6ControlServoLib.c
 * Version: 1.0
 * Target: RP6 CONTROL - M256 WiFi @16.00MHz
 * Author(s): Dirk, MM2forever
 * https://www.roboternetz.de/community/threads/40090-RP6Control-M32-Library-f%C3%BCr-8-Servos/page9?p=571435#post571435
 * ****************************************************************************
 * Description:
 * This is my simple RP6 Control Servo Library for up to 8 Servos.
 *
 * COMMENT: It is a good idea to use a separate power supply for the servos!
 *
 * Servo connections:
 *  SERVO1 -> PB6 (Pin 9 @ IO_PWM/T0/T1)                SERVO5 -> PD4 (Pin 1 @ IO_PWM/T0/T1)
 *  SERVO2 -> PB5 (Pin 7 @ IO_PWM/T0/T1)                SERVO6 -> PK5 (Pin 8 @ IO_PWM/T0/T1)
 *  SERVO3 -> PG5 (Pin 5 @ IO_PWM/T0/T1)                SERVO7 -> PD7 (Pin 6 @ IO_PWM/T0/T1)
 *  SERVO4 -> PD6 (Pin 3 @ IO_PWM/T0/T1)                SERVO8 -> PB7 (Pin 4 @ IO_PWM/T0/T1)
 *
 * ****************************************************************************
 * ATTENTION: Stopwatch 1 is used for the servo task! Please do
 *            not use this stopwatch elsewhere in your program!
 *
 * ****************************************************************************
 * THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
 * ****************************************************************************
 */
 
/*****************************************************************************/
// Includes:

#include "RP6ControlServoLib.h"

/*****************************************************************************/
// Variables:

uint8_t usedservos;
uint8_t servo_on = false;

uint16_t impulselength1 = 0;
uint16_t impulselength2 = 0;
uint16_t impulselength3 = 0;
uint16_t impulselength4 = 0;
uint16_t impulselength5 = 0;
uint16_t impulselength6 = 0;
uint16_t impulselength7 = 0;
uint16_t impulselength8 = 0;

volatile uint16_t intcounter = 0;

/*****************************************************************************/
// Functions:

/**
 * INIT SERVO
 *
 * Call this once before using the servo function.
 * Timer 1 is configured to work in "Clear Timer On
 * Compare Match Mode" (CTC). So no PWM is generated!
 * The timer runs on a fixed frequency (100kHz).
 *
 * Input:  servos -> Used servos
 *        Examples:
 *        - initSERVO(SERVO1 | SERVO2) -> Use only servos 1 and 2
 *        - initSERVO(SERVO1 | SERVO6) -> Use only servos 1 and 6
 *        - initSERVO(SERVO1 | SERVO2 | SERVO8) -> Use servos 1, 2 and 8
 *
 */
void initSERVO(uint8_t servos)
{
        usedservos = servos;                                // Save used servos
        impulselength1 = 0;
        impulselength2 = 0;
        impulselength3 = 0;
        impulselength4 = 0;
        impulselength5 = 0;
        impulselength6 = 0;
        impulselength7 = 0;
        impulselength8 = 0;
        if (servos & SERVO1) {DDRB |= OC1B_PI6; PORTB &= ~OC1B_PI6;}
        if (servos & SERVO2) {DDRB |= OC1A_PI5; PORTB &= ~OC1A_PI5;}
        if (servos & SERVO3) {DDRG |= IO_OC0B; PORTG &= ~IO_OC0B;}
        if (servos & SERVO4) {DDRD |= IO_PD6_T1; PORTD &= ~IO_PD6_T1;}
        if (servos & SERVO5) {DDRD |= IO_PD4_ICP1; PORTD &= ~IO_PD4_ICP1;}
        if (servos & SERVO6) {DDRK |= IO_ADC13_PI21; PORTK &= ~IO_ADC13_PI21;}
        if (servos & SERVO7) {DDRD |= IO_PD7_T2; PORTD &= ~IO_PD7_T2;}
        if (servos & SERVO8) {DDRB |= OC0A_OCM_PI7; PORTB &= ~OC0A_OCM_PI7;}
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6Control:
//        if (servos & SERVOx) {DDRA |= ADC6; PORTA &= ~ADC6;}
//        if (servos & SERVOx) {DDRA |= ADC7; PORTA &= ~ADC7;}
// -----------------------------------------------------------
        cli();
        // Timer 1: Normal port operation, mode 4 (CTC), clk/8
        TCCR1A =  (0 << COM1A1)
                        | (0 << COM1A0)
                        | (0 << COM1B1)
                        | (0 << COM1B0)
                //        | (0 << FOC1A)
                //        | (0 << FOC1B)
                        | (0 << WGM11)
                        | (0 << WGM10);
        TCCR1B =  (0 << ICNC1)
                        | (0 << ICES1)
                        | (0 << WGM13)
                        | (1 << WGM12)
                        | (0 << CS12)
                        | (1 << CS11)
                        | (0 << CS10);
        TCCR1C =  0;               
       
        OCR1A = ((F_CPU/8/F_TIMER1)-1);        // 19 at 100kHz
// ------------------------------------------------------
// Possible OCR1A values (F_CPU = 16000000):
//        OCR1A = 2000000 / F_TIMER1 - 1        // F_TIMER1  (Steps)
//        OCR1A = 18;                                                // 105263Hz  (9.5us)
//        OCR1A = 19;                                                // 100000Hz  (10us)
//        OCR1A = 24;                                                //  80000Hz (12.5us)
//        OCR1A = 29;                                                //  66667Hz  (15us)
//        OCR1A = 34;                                                //  57143Hz (17.5us)
//        OCR1A = 39;                                                //  50000Hz  (20us)
// ------------------------------------------------------
        // Enable output compare A match interrupts:
        startSERVO();
        sei();
        startStopwatch1();                                        // Needed for 20ms pulse repetition
}

/**
 * START SERVO
 *
 * If the servo function was stopped with the
 * function stopSERVO() before, it can be
 * started again with this function.
 *
 */
void startSERVO(void)
{
        TIMSK1 |= (1 << OCIE1A);
        servo_on = true;
}

/**
 * STOP SERVO
 *
 * The servo function uses a certain amount of the
 * processor's calculating time. If the servos are
 * not moving for a while, the Timer 1 interrupt
 * can be stopped with this function.
 *
 */
void stopSERVO(void)
{
        TIMSK1 &= ~(1 << OCIE1A);
        servo_on = false;
}

/**
 * PULSE SERVO
 *
 * This is the servo pulse generation. This function
 * must be called every 20ms (pulse repetition).
 *
 * position = 0              : Left touch
 * position = RIGHT_TOUCH    : Right touch
 * position = MIDDLE_POSITION : Middle position
 *
 * ! Please make sure in your main program, that the !
 * ! servo position values (servoX_position) don't  !
 * ! exceed RIGHT_TOUCH!!!                          !
 *
 * COMMENT: The pulses are only started here!
 *          The pulses end in the Timer 1 ISR!
 *
 */
void pulseSERVO(void)
{
        if (servo_on) {
                intcounter = RIGHT_TOUCH;                // Avoid interference of Timer 1 ISR!
                                                                // (Only necessary, if pulseSERVO() is called
                                                                //  from outside of this library!)
                if (usedservos & SERVO1) {
                        SERVO1_PULSE_ON; impulselength1 = LEFT_TOUCH + servo1_position;}
                if (usedservos & SERVO2) {
                        SERVO2_PULSE_ON; impulselength2 = LEFT_TOUCH + servo2_position;}
                if (usedservos & SERVO3) {
                        SERVO3_PULSE_ON; impulselength3 = LEFT_TOUCH + servo3_position;}
                if (usedservos & SERVO4) {
                        SERVO4_PULSE_ON; impulselength4 = LEFT_TOUCH + servo4_position;}
                if (usedservos & SERVO5) {
                        SERVO5_PULSE_ON; impulselength5 = LEFT_TOUCH + servo5_position;}
                if (usedservos & SERVO6) {
                        SERVO6_PULSE_ON; impulselength6 = LEFT_TOUCH + servo6_position;}
                if (usedservos & SERVO7) {
                        SERVO7_PULSE_ON; impulselength7 = LEFT_TOUCH + servo7_position;}
                if (usedservos & SERVO8) {
                        SERVO8_PULSE_ON; impulselength8 = LEFT_TOUCH + servo8_position;}
                intcounter = 0;
        }
}

/**
 * TIMER1 ISR
 *
 * In this ISR the servo pulses are finished, if the
 * correct pulse length of each servo is reached.
 *
 */
ISR (TIMER1_COMPA_vect)
{
        intcounter++;
        if (intcounter == impulselength1) {SERVO1_PULSE_OFF;}
        if (intcounter == impulselength2) {SERVO2_PULSE_OFF;}
        if (intcounter == impulselength3) {SERVO3_PULSE_OFF;}
        if (intcounter == impulselength4) {SERVO4_PULSE_OFF;}
        if (intcounter == impulselength5) {SERVO5_PULSE_OFF;}
        if (intcounter == impulselength6) {SERVO6_PULSE_OFF;}
        if (intcounter == impulselength7) {SERVO7_PULSE_OFF;}
        if (intcounter == impulselength8) {SERVO8_PULSE_OFF;}
}

/**
 * SERVO TASK
 *
 * This is the servo task. The task performes the pulse repetition
 * with the help of a stopwatch.
 * At the next call of the servo task (earliest about 3ms after the
 * last servo pulse generation) the compare A match interrupt will
 * be disabled to reduce the interrupt load. It will be enabled
 * again after the next pulseSERVO() function call.
 *
 */
void task_SERVO(void)
{
        if (getStopwatch1() > 2) {TIMSK1 &= ~(1 << OCIE1A);}
        if (getStopwatch1() > PULSE_REPETITION) { // Pulse every ~20ms
                pulseSERVO();                                        // Servo pulse generation
                if (servo_on) {TIMSK1 |= (1 << OCIE1A);}
                setStopwatch1(0);
        }
}

/******************************************************************************
 * Additional info
 * ****************************************************************************
 * Changelog:
 * - v. 1.0 (initial release) 31.12.2008 by Dirk
 *
 * ****************************************************************************
 */

/*****************************************************************************/
// EOF

---

RP6ControlServoLib.h

Code:

---

/* ****************************************************************************
 *                          _______________________
 *                          \| RP6  ROBOT SYSTEM |/
 *                            \_-_-_-_-_-_-_-_-_-_/            >>> RP6 CONTROL
 * ----------------------------------------------------------------------------
 * ------------------ [c]2008/2013 - Dirk / MM2forever ------------------------
 * ****************************************************************************
 * File: RP6ControlServoLib.h
 * Version: 1.0
 * Target: RP6 CONTROL - M256 WiFi @16.00MHz
 * Author(s): Dirk, MM2forever
 * https://www.roboternetz.de/community/threads/40090-RP6Control-M32-Library-f%C3%BCr-8-Servos/page9?p=571435#post571435
 * ****************************************************************************
 * Description:
 * This is the RP6ControlServoLib header file.
 * You have to include this file, if you want to use the library
 * RP6ControlServoLib.c in your own projects.
 *
 * ****************************************************************************
 * THE CHANGELOG CAN BE FOUND AT THE END OF THIS FILE!
 * ****************************************************************************
 */
 
/*****************************************************************************/
// Includes:

                                                                // The Control M256 Library.
#include "RP6M256Lib.h"                        // Always needs to be included!

/*****************************************************************************/
// Defines:

// Servo constants:
#define SERVO1                                0b00000001
#define SERVO2                                0b00000010
#define SERVO3                                0b00000100
#define SERVO4                                0b00001000
#define SERVO5                                0b00010000
#define SERVO6                                0b00100000
#define SERVO7                                0b01000000
#define SERVO8                                0b10000000

// Servo movement limits (depending on servo type):
// Standard servos need an impulse every 20ms (50Hz). This impulse must have
// a length of 1ms (0.7 .. 1ms) to move the servo lever to the left touch
// and a length of 2ms (2 .. 2.3ms) for moving it to the right touch. In the
// middle position the servo needs an impulse length of 1.5ms (1.3 .. 1.6ms).
// If you want to modify the following constants for a certain servo type,
// you must adapt the LEFT_TOUCH constant first (values ~70 .. 100 = ~0.7 ..
// 1ms at 100kHz) by using a servo position value (servoX_position) of zero.
// After that you have two "screws" to adjust the servo movement limits:
// First you may change the RIGHT_TOUCH constant. If you choose a higher
// value than 255, you will use 16-bit values. Higher values mean a longer
// impulse length, but longer impulses than 2.3ms do not make sense.
// Second you may alter the Timer 1 frequency constant (F_TIMER1).
// A higher frequency leads to smaller steps of the servo movement. This of
// course reduces the impulse length and may be compensated again by a higher
// RIGHT_TOUCH constant. As a possible range of Timer 1 frequency values you
// may use 50kHz (20us) .. 105.263kHz (9.5us).
// HINT: If you alter F_TIMER1, you'll have to adapt LEFT_TOUCH and
//      RIGHT_TOUCH again as you can see in the following table!
//    Steps ->                9.5                10                12.5        15                17.5        20    [us]
//  ------------------------------------------------------------------
//  LEFT_TOUCH                74                71                57                47                41                35
//  RIGHT_TOUCH                169                162                129                107                92                80
//  F_TIMER1                105263        100000        80000        66667        57143        50000 [Hz]
#define LEFT_TOUCH                        71                        // Left servo touch      (~0.7ms)
#define RIGHT_TOUCH                        162                        // Right servo touch    (~2.3ms)
#define MIDDLE_POSITION                (RIGHT_TOUCH / 2) // Middle position (~1.5ms)
#define PULSE_REPETITION        17                        // Pulse repetition freq. (~50Hz)
#define F_TIMER1                        100000                // Timer 1 frequency    (100kHz)

// Servo ports:
#define SERVO1_PULSE_ON                (PORTB |= OC1B_PI6)        // PB6
#define SERVO1_PULSE_OFF        (PORTB &= ~OC1B_PI6)
#define SERVO2_PULSE_ON                (PORTB |= OC1A_PI5)        // PB5
#define SERVO2_PULSE_OFF        (PORTB &= ~OC1A_PI5)
#define SERVO3_PULSE_ON                (PORTG |= IO_OC0B)        // PG5
#define SERVO3_PULSE_OFF        (PORTG &= ~IO_OC0B )
#define SERVO4_PULSE_ON                (PORTD |= IO_PD6_T1)// PD6
#define SERVO4_PULSE_OFF        (PORTD &= ~IO_PD6_T1)
#define SERVO5_PULSE_ON                (PORTD |= IO_PD4_ICP1)//PD4
#define SERVO5_PULSE_OFF        (PORTD &= ~IO_PD4_ICP1)
#define SERVO6_PULSE_ON                (PORTK |= IO_ADC13_PI21)// PK5
#define SERVO6_PULSE_OFF        (PORTK &= ~IO_ADC13_PI21)
#define SERVO7_PULSE_ON                (PORTD |= IO_PD7_T2) // PD7
#define SERVO7_PULSE_OFF        (PORTD &= ~IO_PD7_T2)
#define SERVO8_PULSE_ON                (PORTB |= OC0A_OCM_PI7)// PB7
#define SERVO8_PULSE_OFF        (PORTB &= ~OC0A_OCM_PI7)
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6Control:
//#define SERVOx_PULSE_ON                (PORTA |= ADC6)                // PA6
//#define SERVOx_PULSE_OFF        (PORTA &= ~ADC6)
//#define SERVOx_PULSE_ON                (PORTA |= ADC7)                // PA7
//#define SERVOx_PULSE_OFF        (PORTA &= ~ADC7)
// -----------------------------------------------------------

/*****************************************************************************/
// Variables:

uint16_t servo1_position;                // Servo 1 position [0..RIGHT_TOUCH]
uint16_t servo2_position;                // Servo 2 position [0..RIGHT_TOUCH]
uint16_t servo3_position;                // Servo 3 position [0..RIGHT_TOUCH]
uint16_t servo4_position;                // Servo 4 position [0..RIGHT_TOUCH]
uint16_t servo5_position;                // Servo 5 position [0..RIGHT_TOUCH]
uint16_t servo6_position;                // Servo 6 position [0..RIGHT_TOUCH]
uint16_t servo7_position;                // Servo 7 position [0..RIGHT_TOUCH]
uint16_t servo8_position;                // Servo 8 position [0..RIGHT_TOUCH]

/*****************************************************************************/
// Functions:

void initSERVO(uint8_t servos);
void startSERVO(void);
void stopSERVO(void);
void pulseSERVO(void);
void task_SERVO(void);

/******************************************************************************
 * Additional info
 * ****************************************************************************
 * Changelog:
 * - v. 1.0 (initial release) 31.12.2008 by Dirk
 *
 * ****************************************************************************
 */

/*****************************************************************************/
// EOF

---

Hier noch die Anpassungen, wenn man die Portpins am IO_PWM/T2/T3 Stecker der M256 nehmen will:

Code:

---

Stecker IO_PWM/T2/T3
        _______
Vdd    <-|10  9| -> Servo8
Servo7 <-| 8  7| -> Servo6
Servo5 <-| 6  5| -> Servo4
Servo3 <-| 4  3| -> Servo2
Ground <-| 2  1| -> Servo1
        -------

********* in der Lib **********
 * Servo connections at IO_PWM/T2/T3:
 *    SERVO1 -> Pin 1 (IO_PE7_ICP3_I7)  SERVO5 -> Pin 6 (IO_ADC15_PI23)
 *    SERVO2 -> Pin 3 (IO_PE6_T3_I6)  SERVO6 -> Pin 7 (IO_PH6_OC2B)
 *    SERVO3 -> Pin 4 (IO_PE5_OC3C_I5)  SERVO7 -> Pin 8 (IO_ADC14_PI22)
 *    SERVO4 -> Pin 5 (OC2A_PI4)  SERVO8 -> Pin 9 (IO_PE4_OC3B_I4)
 

 if (servos & SERVO1) {DDRE |= IO_PE7_ICP3_I7; PORTE &= ~IO_PE7_ICP3_I7;}
 if (servos & SERVO2) {DDRE |= IO_PE6_T3_I6; PORTE &= ~IO_PE6_T3_I6;}
 if (servos & SERVO3) {DDRE |= IO_PE5_OC3C_I5; PORTE &= ~IO_PE5_OC3C_I5;}
 if (servos & SERVO4) {DDRB |= OC2A_PI4; PORTB &= ~OC2A_PI4;}
 if (servos & SERVO5) {DDRK |= IO_ADC15_PI23; PORTK &= ~IO_ADC15_PI23;}
 if (servos & SERVO6) {DDRH |= IO_PH6_OC2B; PORTH &= ~IO_PH6_OC2B;}
 if (servos & SERVO7) {DDRK |= IO_ADC14_PI22; PORTK &= ~IO_ADC14_PI22;}
 if (servos & SERVO8) {DDRE |= IO_PE4_OC3B_I4; PORTE &= ~IO_PE4_OC3B_I4;}
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6 M256:
 // At IO_PWM/T0/T1: PD4, PD6, PB7, PG5, PD7, PB5, PK5, PB6
 // At UART_SPI1/T5: PL1, PL2, PD5, PL3, PD3, PL5, PD2, PL4
 // At UART_SPI2/T4: PL0, PH7, PH2, PH5, PH1, PH4, PH0, PH3
// -----------------------------------------------------------


********* im Header **********
// Servo ports (at IO_PWM/T2/T3):
#define SERVO1_PULSE_ON  (PORTE |= IO_PE7_ICP3_I7) // PE7
#define SERVO1_PULSE_OFF (PORTE &= ~IO_PE7_ICP3_I7)
#define SERVO2_PULSE_ON  (PORTE |= IO_PE6_T3_I6)  // PE6
#define SERVO2_PULSE_OFF (PORTE &= ~IO_PE6_T3_I6)
#define SERVO3_PULSE_ON  (PORTE |= IO_PE5_OC3C_I5) // PE5
#define SERVO3_PULSE_OFF (PORTE &= ~IO_PE5_OC3C_I5)
#define SERVO4_PULSE_ON  (PORTB |= OC2A_PI4)  // PB4
#define SERVO4_PULSE_OFF (PORTB &= ~OC2A_PI4)
#define SERVO5_PULSE_ON  (PORTK |= IO_ADC15_PI23) // PK7
#define SERVO5_PULSE_OFF (PORTK &= ~IO_ADC15_PI23)
#define SERVO6_PULSE_ON  (PORTH |= IO_PH6_OC2B)  // PH6
#define SERVO6_PULSE_OFF (PORTH &= ~IO_PH6_OC2B)
#define SERVO7_PULSE_ON  (PORTK |= IO_ADC14_PI22) // PK6
#define SERVO7_PULSE_OFF (PORTK &= ~IO_ADC14_PI22)
#define SERVO8_PULSE_ON  (PORTE |= IO_PE4_OC3B_I4) // PE4
#define SERVO8_PULSE_OFF (PORTE &= ~IO_PE4_OC3B_I4)
// -----------------------------------------------------------
// Other possible ports for connecting servos to RP6 M256:
 // At IO_PWM/T0/T1: PD4, PD6, PB7, PG5, PD7, PB5, PK5, PB6
 // At UART_SPI1/T5: PL1, PL2, PD5, PL3, PD3, PL5, PD2, PL4
 // At UART_SPI2/T4: PL0, PH7, PH2, PH5, PH1, PH4, PH0, PH3
// -----------------------------------------------------------

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