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Commit c05691be authored by Xoaquin Castrelo's avatar Xoaquin Castrelo
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Fixed some maths.

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emb/servos.cpp
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− 1
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...@@ -5,6 +5,8 @@ ...@@ -5,6 +5,8 @@
#include <stdint.h> #include <stdint.h>
#define NUM_SERVOS 3 #define NUM_SERVOS 3
#define MIN_PULSE 999
#define MAX_PULSE 4999
static void reorderServos(); static void reorderServos();
static void initTimer1(); static void initTimer1();
...@@ -41,7 +43,7 @@ void initServos() ...@@ -41,7 +43,7 @@ void initServos()
void setServoAngle(uint8_t servo, int16_t arcMin) void setServoAngle(uint8_t servo, int16_t arcMin)
{ {
if (0 <= servo && servo < NUM_SERVOS) if (0 <= servo && servo < NUM_SERVOS)
servos[servo].tempValue = 2999 + (int32_t) arcMin * 1000 / (180 * 60); servos[servo].tempValue = MIN_PULSE + (int32_t) (arcMin + 180 * 60) * (MAX_PULSE - MIN_PULSE) / (360 * 60);
} }
void updateServos() void updateServos()
......
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