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fix min and max for Servo library #5064

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Merged
merged 1 commit into from
Aug 20, 2018
Merged

fix min and max for Servo library #5064

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6 changes: 3 additions & 3 deletions libraries/Servo/src/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,12 +91,12 @@ void Servo::detach()
void Servo::write(int value)
{
// 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
value = constrain(value, 0, 180);
// writeMicroseconds will contrain the calculated value for us
// 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);
}
Expand All @@ -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
// 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()
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