Pigpio servo and step motor control

Question

I am able to drive the step motor by using wave_chain() method of the pigpio library. Now, I have to drive the servo motor with stepper motor at same time.

The documentation says that wave_chain() method will cancel the hardware_PWM() call. So If I use hardware_PWM() for servo controlling, while stepper is driving in other thread, I wont be able to drive the servo at the same time? Am I right?

If it is, can I run servo and stepper motor simultaneously ?

I see that there are also servo controlling methods in the pigpiod library. Are they cancels the waves created by wave_chain() ? Are these servo methods works well with wave_chain() method ?

Edit : I tried the drive the servo and step motor simulatenously. And while I am running at the same time, servo motor starts to jitter and missing steps. Sometimes it goes to the target position, sometimes not. When I comment the step motor drive methods, servo goes well.

Here is the code I have tried ;

#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <pigpiod_if2.h>
#include <pthread.h>


int pi;

void* servo_thread_f(void* arg)
{
    set_mode(pi, 27, PI_OUTPUT);
    set_servo_pulsewidth(pi, 27, 2500);

    sleep(5);
    printf("Servo starting\n");
    while(1)
    {
        set_servo_pulsewidth(pi, 27, 2500);
        printf("1) Servo triggered up\n");
        usleep(500000);
        // this sleep can be usleep(500000)
        set_servo_pulsewidth(pi, 27, 2000);
        printf("2) Servo triggered down\n");
        usleep(500000);
        // this sleep can be usleep(500000)
    }
}

void generate_ramp(int step_pin, int ramp0, int ramp1);

int main()
{
    // Global is just a extern struct that contains the global variables.
    pi = pigpio_start(NULL, NULL);
    printf("pi : %d\n", pi);
    set_mode(pi, 20, PI_OUTPUT);

    pthread_t servo_thread;
    pthread_create(&servo_thread,NULL, &servo_thread_f, NULL);
    int dir = 1;

    while(1)
    {
        // go target position
        generate_ramp(20 , 3200, 1500);

        // change direction
        gpio_write(pi, 21, dir);
        dir = 1 - dir;
    }


    return 0;
}

void generate_ramp(int step_pin, int ramp0, int ramp1)
{
    int wid = -1;
    int f = ramp0;
    int micros = (int)(500000/f);
    gpioPulse_t pulses[2] =  {{1 << step_pin, 0, micros},{0, 1 << step_pin,micros}};
    wave_add_generic(pi, 2, pulses);

    wid = wave_create(pi);

    int steps = ramp1;
    int x = steps & 255;
    int y = steps >> 8;
    char wave[7] = {255, 0, wid, 255, 1 , x, y};
    wave_chain(pi, wave , 7);
    while(wave_tx_busy(pi));

    wave_delete(pi, wid);
}

Is there something that I have done wrong? The raspberry pi, servo motor power and step motor power have common ground.

Edit 2 :

Compiled by : gcc example.c -o example -lpthread -lpigpiod_if2 -lrt

• With just one thread, for example drive servos in the main thread, there is no problem.

• I put a printf before servo pulsewidth command. When this printf executes, I see the message and the motor moving. But these print() messages does not seem frequently. Thats why I am thinking it is about thread scheduling issue.

• With just one thread, sleeping with usleep(500000) or with a lower value like usleep(100000) for servo move up and down, there is no problem. Servos really does these movements fast.

Answer 1

I will assume you are using the pigpio Python module.

You are correct to say that hardware_PWM can not be used at the same time as wave_chain.

I suggest you use the set_servo_pulsewidth method instead. This method can be used at the same time as wave_chain and is stable enough for servo operation.