Bi Ped robot and panning servo question (blocking function?)

if you've seen of previous posts, have 2 robots have same objectives. 1 on tracks , other bi ped walking robot. i've had them both 3 years , continuously make them both more accurate, advanced , efficient. typically leapfrog past each other in efficiency , tasks untill other catch up.

the bi ped robot in question has 6 servos movement , 1 servo panning. pan servo has camera colors , ir distance sensor avoid objects. robot accurate , supposed to. i'm looking make better. panning servo pans in between steps, not while robot walking. i'm trying make pan servo pan continuously while robot walking , scanning objects. i'm afraid walk() blocking function not allowing pan servo pan while robot walking. below current code appropriate loops.

code: [select]

int scanincrement = (rcs_max_pos - rcs_min_pos) / 150;
uint32_t lastmove = 0;

void scanforblocks()
{
  if (millis() - lastmove > 8)
  {
    lastmove = millis();
    panloop.m_pos += scanincrement;
    if ((panloop.m_pos >= rcs_max_pos) || (panloop.m_pos <= rcs_min_pos))
    {
      tiltloop.m_pos = random(rcs_max_pos * 0.6, rcs_max_pos);
      scanincrement = -scanincrement;

      if (scanincrement != 0)
      {
        walk(15);
        walk(15);
      }
    }
    pixy.setservos(panloop.m_pos, tiltloop.m_pos);
  }
}


above can see once servo pans either side robot takes 2 steps scan again.

here loop. of these functions work expected.

code: [select]

void loop()
{
  read_ir();
  scanforblocks();
  camera();

  if ((ir > middle) && (millis() - lastblocktime < 500))
  {
    walk(5);
    r2d2();
    {
      while ((ir > middle) && (millis() - lastblocktime < 600000))
      {
        rest();
        read_ir();
      }
    }
  }
  else if ((panloop.m_pos < rcs_center_pos) && ir > far && (millis() - lastblocktime > 500))
  {
    laugh();
    turn_right(200);
  }
  else if ((panloop.m_pos > rcs_center_pos) && ir > far && (millis() - lastblocktime > 500))
  {
    laugh();
    turn_left(200);
  }
}


next i'll post i've tried , results.

it seems problem in code didn't post (the walk() function.)

it seems it's poor design scanforblocks() function capable of walking. places walk() called should within same module or function.

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