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🎨 Clamp servo pwm

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This commit is contained in:
Rune Harlyk
2025-10-09 18:33:17 +02:00
parent 1f8e7efdb2
commit 2face72aee
1 changed files with 1 additions and 4 deletions
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esp32/include/peripherals/servo_controller.h
+1 -4
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@@ -92,10 +92,7 @@ class ServoController : public StatefulService<ServoSettings> {
auto &servo = state().servos[i]; auto &servo = state().servos[i];
float angle = servo.direction * angles[i] + servo.centerAngle; float angle = servo.direction * angles[i] + servo.centerAngle;
uint16_t pwm = angle * servo.conversion + servo.centerPwm; uint16_t pwm = angle * servo.conversion + servo.centerPwm;
if (pwm < 125 || pwm > 600) { pwms[i] = pwm = std::clamp<uint16_t>(pwm, 125, 600);
continue;
}
pwms[i] = pwm;
} }
_pca.setMultiplePWM(pwms, 12); _pca.setMultiplePWM(pwms, 12);
} }