pbio/dcmotor: Cap max voltage at hardware limit.

laurensvalk · laurensvalk · commit b292993a8b41 · 2021-11-19T10:17:01.000+01:00
diff --git a/lib/pbio/src/dcmotor.c b/lib/pbio/src/dcmotor.c
@@ -127,6 +127,11 @@ void pbio_dcmotor_get_settings(pbio_dcmotor_t *dcmotor, int32_t *max_voltage) {
 }
 
 pbio_error_t pbio_dcmotor_set_settings(pbio_dcmotor_t *dcmotor, int32_t max_voltage) {
+    // New maximum voltage must be positive and at or below hardware limit.
+    if (max_voltage < 0 || max_voltage > pbio_dcmotor_get_max_voltage(dcmotor->id)) {
+        return PBIO_ERROR_INVALID_ARG;
+    }
+    // Set the new value.
     dcmotor->max_voltage = max_voltage;
     return PBIO_SUCCESS;
 }

Original file line number	Diff line number	Diff line change
`@@ -127,6 +127,11 @@ void pbio_dcmotor_get_settings(pbio_dcmotor_t dcmotor, int32_t max_voltage) {`
`127`	`127`	`}`
`128`	`128`
`129`	`129`	`pbio_error_t pbio_dcmotor_set_settings(pbio_dcmotor_t *dcmotor, int32_t max_voltage) {`
	`130`	`+ // New maximum voltage must be positive and at or below hardware limit.`
	`131`	`+ if (max_voltage < 0 \|\| max_voltage > pbio_dcmotor_get_max_voltage(dcmotor->id)) {`
	`132`	`+ return PBIO_ERROR_INVALID_ARG;`
	`133`	`+ }`
	`134`	`+ // Set the new value.`
`130`	`135`	`dcmotor->max_voltage = max_voltage;`
`131`	`136`	`return PBIO_SUCCESS;`
`132`	`137`	`}`