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Fix min and max for Servo library (#5064)

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Use the optionally defined min/max values instead of the hard-coded limits
for pulse widths.
This commit is contained in:
Philip Dorr 2018-08-20 11:01:07 -05:00 committed by Earle F. Philhower, III
parent 85e68093e9
commit 18f643c7e2
1 changed files with 3 additions and 3 deletions
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6
libraries/Servo/src/Servo.cpp
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@ -91,12 +91,12 @@ void Servo::detach()
void Servo::write(int value) void Servo::write(int value)
{ {
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < MIN_PULSE_WIDTH) { if (value < _minUs) {
// assumed to be 0-180 degrees servo // assumed to be 0-180 degrees servo
value = constrain(value, 0, 180); value = constrain(value, 0, 180);
// writeMicroseconds will contrain the calculated value for us // writeMicroseconds will contrain the calculated value for us
// for any user defined min and max, but we must use default min max // for any user defined min and max, but we must use default min max
value = improved_map(value, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); value = improved_map(value, 0, 180, _minUs, _maxUs);
} }
writeMicroseconds(value); writeMicroseconds(value);
} }
@ -113,7 +113,7 @@ int Servo::read() // return the value as degrees
{ {
// read returns the angle for an assumed 0-180, so we calculate using // read returns the angle for an assumed 0-180, so we calculate using
// the normal min/max constants and not user defined ones // the normal min/max constants and not user defined ones
return improved_map(readMicroseconds(), MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, 0, 180); return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);
} }
int Servo::readMicroseconds() int Servo::readMicroseconds()