From 3e5efee11e7522f28fc979230141948b7a8fd879 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Mon, 9 Sep 2024 16:51:44 +0200
Subject: [PATCH] [Payload][Actuators] Update servo timings for 15cm rope throw
---
src/boards/Payload/Configs/ActuatorsConfig.h | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/boards/Payload/Configs/ActuatorsConfig.h b/src/boards/Payload/Configs/ActuatorsConfig.h
index 307b30a05..5db0e01bc 100644
--- a/src/boards/Payload/Configs/ActuatorsConfig.h
+++ b/src/boards/Payload/Configs/ActuatorsConfig.h
@@ -33,17 +33,19 @@ namespace Actuators
/* linter off */ using namespace std::chrono_literals;
+// On Lyra 6-gear planetary multiplier: 100us ~= 1cm
+
namespace LeftServo
{
constexpr auto ROTATION = 180.f; // [deg]
constexpr auto MIN_PULSE = 500us;
-constexpr auto MAX_PULSE = 2460us;
+constexpr auto MAX_PULSE = 2200us;
} // namespace LeftServo
namespace RightServo
{
constexpr auto ROTATION = 180.f; // [deg]
-constexpr auto MIN_PULSE = 2460us;
+constexpr auto MIN_PULSE = 2200us;
constexpr auto MAX_PULSE = 500us;
} // namespace RightServo
--
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