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How to Mod a Servo to Get Closed Loop Feedback

While driving a servo with a microcontroller (as Arduino), you can only give him orders of target location (in PPM signal).
With this order, the servo will move to this target location. But it’s not instantaneous! You don’t know exactly when the location will be reached…
This is open loop control.
If you need to move to different locations in sequence, the usual way is to insert pauses (delay instructions) in order to let the servo achieve the move.
And if you also need reactivity, you have to mod the servo in order to get a closed loop circuit.”

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