Support angle and microseconds for nrf52, renesasm stn32f4

Author: thomashargrove

src/nrf52/Servo.cpp

@@ -74,12 +74,13 @@ 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);
-
+	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);
+	}
 	writeMicroseconds(value);
 }
 

src/renesas/Servo.cpp

@@ -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);
+        }
+        this->writeMicroseconds(value);
     }
 }
 

src/stm32f4/Servo.cpp

@@ -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 {