From 85ded0b9bd9550a4b2a7e0326de7e098dd465a70 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 9 Jan 2024 22:41:54 -0600 Subject: [PATCH] =?UTF-8?q?=F0=9F=A9=B9=20Clarify=20servo=20=C2=B5s=20min/?= =?UTF-8?q?max?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/HAL/shared/servo.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp index bb9d618018..543bc8e873 100644 --- a/Marlin/src/HAL/shared/servo.cpp +++ b/Marlin/src/HAL/shared/servo.cpp @@ -60,8 +60,8 @@ ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures uint8_t ServoCount = 0; // the total number of attached servos -#define SERVO_MIN(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo -#define SERVO_MAX(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo +#define SERVO_MIN_US(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo +#define SERVO_MAX_US(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo /************ static functions common to all instances ***********************/ @@ -117,7 +117,7 @@ void Servo::detach() { void Servo::write(int value) { if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) - value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(min), SERVO_MAX(max)); + value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN_US(min), SERVO_MAX_US(max)); writeMicroseconds(value); } @@ -126,8 +126,8 @@ void Servo::writeMicroseconds(int value) { byte channel = servoIndex; if (channel < MAX_SERVOS) { // ensure channel is valid // ensure pulse width is valid - value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION); - value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 + LIMIT(value, SERVO_MIN_US(min), SERVO_MAX_US(max)); + value = usToTicks(value - (TRIM_DURATION)); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 CRITICAL_SECTION_START(); servo_info[channel].ticks = value; @@ -136,7 +136,7 @@ void Servo::writeMicroseconds(int value) { } // return the value as degrees -int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN(min), SERVO_MAX(max), 0, 180); } +int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN_US(min), SERVO_MAX_US(max), 0, 180); } int Servo::readMicroseconds() { return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION);