From 52a777002a02f17b5520fff7c01102b0fd47e025 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Wed, 18 May 2022 10:41:39 +0200
Subject: [PATCH] [Servo] Implemented position limitation
---
src/shared/actuators/Servo/Servo.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/shared/actuators/Servo/Servo.cpp b/src/shared/actuators/Servo/Servo.cpp
index ceffefd29..e08ca3cb8 100644
--- a/src/shared/actuators/Servo/Servo.cpp
+++ b/src/shared/actuators/Servo/Servo.cpp
@@ -61,6 +61,11 @@ void Servo::disable() {}
void Servo::setPosition(float position)
{
+ if (position < 0)
+ position = 0;
+ else if (position > 1)
+ position = 1;
+
float pulse = minPulse + (maxPulse - minPulse) * position;
float dutyCycle = pulse * frequency / 1000000.0f;
--
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