Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Support angle and microseconds for nrf52, renesasm stm32f4 #135

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
+20 −13
Open

Support angle and microseconds for nrf52, renesasm stm32f4 #135

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
2e87933
Support angle and microseconds for nrf52, renesasm stn32f4
thomashargrove Oct 16, 2024
db471fd
More consistent use of this depending on the file
thomashargrove Oct 16, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 8 additions & 7 deletions src/nrf52/Servo.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,13 +74,14 @@ void Servo::detach()

void Servo::write(int value)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);

writeMicroseconds(value);
if(value < MIN_PULSE_WIDTH) {
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);
}
this->writeMicroseconds(value);
}


Expand Down
9 changes: 6 additions & 3 deletions src/renesas/Servo.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -232,12 +232,15 @@ void Servo::detach()
}
}

void Servo::write(int angle)
void Servo::write(int value)
{
if (servoIndex != SERVO_INVALID_INDEX) {
ra_servo_t *servo = &ra_servos[servoIndex];
angle = constrain(angle, 0, 180);
writeMicroseconds(map(angle, 0, 180, servo->period_min, servo->period_max));
if(value < MIN_PULSE_WIDTH) {
value = constrain(value, 0, 180);
value = map(value, 0, 180, servo->period_min, servo->period_max);
}
writeMicroseconds(value);
}
}

Expand Down
9 changes: 6 additions & 3 deletions src/stm32f4/Servo.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -148,9 +148,12 @@ bool Servo::detach() {
return true;
}

void Servo::write(int degrees) {
degrees = constrain(degrees, this->minAngle, this->maxAngle);
this->writeMicroseconds(ANGLE_TO_US(degrees));
void Servo::write(int value) {
if(value < MIN_PULSE_WIDTH) {
value = constrain(value, this->minAngle, this->maxAngle);
value = ANGLE_TO_US(value);
}
this->writeMicroseconds(value);
}

int Servo::read() const {
Expand Down