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Support angle and microseconds for nrf52, renesasm stm32f4 #135

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Support angle and microseconds for nrf52, renesasm stm32f4 #135

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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
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15 changes: 8 additions & 7 deletions src/nrf52/Servo.cpp
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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);
}


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9 changes: 6 additions & 3 deletions src/renesas/Servo.cpp
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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);
}
}

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9 changes: 6 additions & 3 deletions src/stm32f4/Servo.cpp
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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 {
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