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# readme.mb : Readme file for chipKIT/MPIDE Servo library
## Overview:
The Servo library allows a sketch to output RC servo pulses on up to 24 of the I/O pins
at a time. These servo pulses are all controlled by hardware timers and interrupts, so that
once they are started, they continue to output pulses with no sketch code interaction.
Use this library to control up to 24 RC servos at a time, using either degree (0 to 179)
parameter or microsecond pulse durations (from 544us to 2400us).
## Usage:
See the Servo.cpp and Servo.h files for detailed usage information.
## Operation:
The way the library works is to keep a list of all possible servos. Each time you create
a new Servo object and attach it to a pin, the next servo in the list is populated with
the pin number, the duration (in uS) and which of three timers will control that servo.
The three timers are dynamically turned on/off as needed to support the number of servos
used, with up to 8 servos on each of the three timers. Each time the timer fires, it
clears the current servo pin and set the next one in the list, then sets itself to fire
again in the future the duration of the new servo high period. After all servos have fired,
the timer then sets itself to fire such that the entire process repeats every 20ms or so.
Even though timers are used, the actual pin setting and clearing is done in software in
the timer's ISR. Thus these servos will have jitter based upon what other interrupts
are enabled and running on the system at the time.
## Notes:
See Servo.cpp and Servo.h for more information on special precautions when using the
library.
## History:
This library was adatped for the PIC32 architecture from the Arduino Servo library. See
Servo.cpp for more history information
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