From 611104f63c4a6b73cfebdabda1a43b5184fed020 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federico.mandelli@skywarder.eu>
Date: Wed, 30 Nov 2022 15:52:04 +0000
Subject: [PATCH] [Servo] Fixed getPosition method with correct angle values
---
src/shared/actuators/Servo/Servo.cpp | 4 ++--
src/shared/actuators/Servo/Servo.h | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/shared/actuators/Servo/Servo.cpp b/src/shared/actuators/Servo/Servo.cpp
index 2cabb2505..3cf442736 100644
--- a/src/shared/actuators/Servo/Servo.cpp
+++ b/src/shared/actuators/Servo/Servo.cpp
@@ -103,9 +103,9 @@ float Servo::getPosition()
float Servo::getPosition90Deg() { return getPosition() * 90; }
-float Servo::getPosition180Deg() { return getPosition() * 1800; }
+float Servo::getPosition180Deg() { return getPosition() * 180; }
-float Servo::getPosition360Deg() { return getPosition() * 3600; }
+float Servo::getPosition360Deg() { return getPosition() * 360; }
ServoData Servo::getState()
{
diff --git a/src/shared/actuators/Servo/Servo.h b/src/shared/actuators/Servo/Servo.h
index e4a792cc1..537520489 100644
--- a/src/shared/actuators/Servo/Servo.h
+++ b/src/shared/actuators/Servo/Servo.h
@@ -53,7 +53,7 @@ namespace Boardcore
* Note that the peripheral clock of the undelying timer used to generate the
* PWM signal, is enabled when the object is created and disabled when
* destructed. When using the same timer for two or more sensors keep in mind
- * that you could encouter issues.
+ * that you could encounter issues.
*/
class Servo
{
--
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