0x90/Marlin
12
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

🩹 Clarify servo µs min/max

Browse source
This commit is contained in:
Scott Lahteine 2024-01-09 22:41:54 -06:00
parent cb291e8d00
commit 85ded0b9bd
1 changed files with 6 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

12
Marlin/src/HAL/shared/servo.cpp
View file

@ -60,8 +60,8 @@
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos 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_MIN_US(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_MAX_US(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/ /************ static functions common to all instances ***********************/
@ -117,7 +117,7 @@ void Servo::detach() {
void Servo::write(int value) { 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) 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); writeMicroseconds(value);
} }
@ -126,8 +126,8 @@ void Servo::writeMicroseconds(int value) {
byte channel = servoIndex; byte channel = servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid // ensure pulse width is valid
value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION); LIMIT(value, SERVO_MIN_US(min), SERVO_MAX_US(max));
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 value = usToTicks(value - (TRIM_DURATION)); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
CRITICAL_SECTION_START(); CRITICAL_SECTION_START();
servo_info[channel].ticks = value; servo_info[channel].ticks = value;
@ -136,7 +136,7 @@ void Servo::writeMicroseconds(int value) {
} }
// return the value as degrees // 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() { int Servo::readMicroseconds() {
return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION); return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION);