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SAMD51 Servo class (#14781)

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This commit is contained in:
Giuliano Zaro
2019-08-02 14:37:41 +02:00
committed by Scott Lahteine
parent 8efa3455c2
commit 21993b75f4
15 changed files with 318 additions and 117 deletions
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5
Marlin/src/HAL/shared/servo.cpp
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@@ -116,9 +116,8 @@ void Servo::detach() {
}
void Servo::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)
if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
@@ -140,7 +139,7 @@ void Servo::writeMicroseconds(int value) {
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION);
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }