Remove possible jerk due to force-cancelling duty cycle.

dok-net · dok-net · commit e7695a9e2a04 · 2020-10-31T15:51:11.000+01:00
diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
@@ -85,10 +85,11 @@ void Servo::detach()
 {
   if (_attached) {
     _servoMap &= ~(1 << _pin);
+    startWaveform(_pin, 0, REFRESH_INTERVAL, 1);
+    delay(REFRESH_INTERVAL / 1000); // long enough to complete active period under all circumstances.
     stopWaveform(_pin);
     _attached = false;
     _valueUs = DEFAULT_NEUTRAL_PULSE_WIDTH;
-    digitalWrite(_pin, LOW);
   }
 }
 

Original file line number	Diff line number	Diff line change
`@@ -85,10 +85,11 @@ void Servo::detach()`
`85`	`85`	`{`
`86`	`86`	`if (_attached) {`
`87`	`87`	`_servoMap &= ~(1 << _pin);`
	`88`	`+ startWaveform(_pin, 0, REFRESH_INTERVAL, 1);`
	`89`	`+ delay(REFRESH_INTERVAL / 1000); // long enough to complete active period under all circumstances.`
`88`	`90`	`stopWaveform(_pin);`
`89`	`91`	`_attached = false;`
`90`	`92`	`_valueUs = DEFAULT_NEUTRAL_PULSE_WIDTH;`
`91`		`- digitalWrite(_pin, LOW);`
`92`	`93`	`}`
`93`	`94`	`}`
`94`	`95`