Shifter update() may be heating up Servos about 612-code HOT 3 CLOSED

Additional research into this problem:
Testing today w/ Blair showed that shifter:update() needs to be back in the callback code.
Servos can move slightly during operation and need to be constantly updated.

Source of the overheating may be in the PWM control. There is a PWM period
const UINT32 PWM::kDefaultPwmPeriod = 774 [static, protected] denoted in the documentation.

Note that the documentation states that servos (this is the model we are using) get hot and hum at 5ms.
Suggest we change the default to 20ms for the servos (3065 ticks) and test the servos again.

kDefaultPwmPeriod is "ticks" where each tick is 6.525us

20ms periods (50 Hz) are the "safest" setting in that this works for all devices
20ms periods seem to be desirable for Vex Motors
20ms periods are the specified period for HS-322HD servos, but work reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot; by 5.0ms the hum is nearly continuous
10ms periods work well for Victor 884
5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers. Due to the shipping firmware on the Jaguar, we can't run the update period less than 5.05 ms.
kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an output squelch to get longer periods for old devices.

Set to 5.05 ms period / 6.525us clock = 774

from 612-code.

Looking at the documentation, I think we can only do more advanced configuration of the PWM signal if we hook it up into a DIO port and use the DigitalOutput's software PWM methods. However, we are unable to get the 6V power that the servos want on a DIO port as only the PWM ports (which don't support the advanced PWM methods) are the only ones which have the 6V jumper attached.

It looks like they're OK for now...

from 612-code.

Now that we don't have any more issues with them heating up, I'm going to close this issue. However, I'm going to start a new issue with our problems with the shifters, specifically the left shifter. I'm going to check on it tomorrow too.

from 612-code.