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define maximum angle #4

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define maximum angle #4

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18 changes: 10 additions & 8 deletions VarSpeedServo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,7 @@ servoSequencePoint initSeq[] = {{0,100},{45,100}};

#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
#define SERVO_ANGLE() (this->maxAngle) // maximum angle for this servo

/************ static functions common to all instances ***********************/

Expand Down Expand Up @@ -314,14 +315,15 @@ uint8_t VarSpeedServo::attach(int pin)
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}

uint8_t VarSpeedServo::attach(int pin, int min, int max)
uint8_t VarSpeedServo::attach(int pin, int min, int max, int maxAngle)
{
if(this->servoIndex < MAX_SERVOS ) {
pinMode( pin, OUTPUT) ; // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max)/4;
this->maxAngle = maxAngle;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if(isTimerActive(timer) == false)
Expand All @@ -345,8 +347,8 @@ void VarSpeedServo::write(int value)
if(value < MIN_PULSE_WIDTH)
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
// updated to use constrain() instead of if(), pva
value = constrain(value, 0, 180);
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
value = constrain(value, 0, SERVO_ANGLE());
value = map(value, 0, SERVO_ANGLE(), SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
Expand Down Expand Up @@ -398,8 +400,8 @@ void VarSpeedServo::write(int value, uint8_t speed) {
if (value < MIN_PULSE_WIDTH) {
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
// updated to use constrain instead of if, pva
value = constrain(value, 0, 180);
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
value = constrain(value, 0, SERVO_ANGLE());
value = map(value, 0, SERVO_ANGLE(), SERVO_MIN(), SERVO_MAX());
}
// calculate and store the values for the given channel
byte channel = this->servoIndex;
Expand Down Expand Up @@ -452,7 +454,7 @@ void VarSpeedServo::slowmove(int value, uint8_t speed) {

int VarSpeedServo::read() // return the value as degrees
{
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, SERVO_ANGLE());
}

int VarSpeedServo::readMicroseconds()
Expand Down Expand Up @@ -516,7 +518,7 @@ void VarSpeedServo::sequenceStop() {
To do
int VarSpeedServo::targetPosition() {
byte channel = this->servoIndex;
return map( servos[channel].target+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
return map( servos[channel].target+1, SERVO_MIN(), SERVO_MAX(), 0, SERVO_ANGLE());
}

int VarSpeedServo::targetPositionMicroseconds() {
Expand All @@ -528,4 +530,4 @@ bool VarSpeedServo::isMoving() {
byte channel = this->servoIndex;
int servos[channel].target;
}
*/
*/