From 2face72aee02860681fab1bf990f4a338f84de18 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 9 Oct 2025 18:33:17 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Clamp=20servo=20pwm?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 esp32/include/peripherals/servo_controller.h | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/esp32/include/peripherals/servo_controller.h b/esp32/include/peripherals/servo_controller.h
index dc3ac74..5b41353 100644
--- a/esp32/include/peripherals/servo_controller.h
+++ b/esp32/include/peripherals/servo_controller.h
@@ -92,10 +92,7 @@ class ServoController : public StatefulService<ServoSettings> {
             auto &servo = state().servos[i];
             float angle = servo.direction * angles[i] + servo.centerAngle;
             uint16_t pwm = angle * servo.conversion + servo.centerPwm;
-            if (pwm < 125 || pwm > 600) {
-                continue;
-            }
-            pwms[i] = pwm;
+            pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
         }
         _pca.setMultiplePWM(pwms, 12);
     }