For YRL Robot Arm
Dependents: PR_RobotArm_Show_Positions
Fork of PR-RobotArmController by
Diff: servo.cpp
- Revision:
- 1:aa92ba95a4bb
- Parent:
- 0:b14dfd8816da
--- a/servo.cpp Fri Mar 03 13:28:54 2017 +0000 +++ b/servo.cpp Fri Mar 03 13:37:44 2017 +0000 @@ -100,7 +100,7 @@ case BASE: return BASE_LIMIT_LOW; case SHOULDER: return SHOULDER_LIMIT_LOW; case ELBOW: return ELBOW_LIMIT_LOW; - //case WRIST: return WRIST_LIMIT_LOW; + case WRIST: return WRIST_LIMIT_LOW; } } return 0; @@ -114,7 +114,7 @@ case BASE: return BASE_LIMIT_HIGH; case SHOULDER: return SHOULDER_LIMIT_HIGH; case ELBOW: return ELBOW_LIMIT_HIGH; - // case WRIST: return WRIST_LIMIT_HIGH; + case WRIST: return WRIST_LIMIT_HIGH; } } return 4095; @@ -572,7 +572,7 @@ case(BASE):if(INVERT_BASE == 1)position=4095-position;break; case(SHOULDER):if(INVERT_SHOULDER == 1)position=4095-position;break; case(ELBOW):if(INVERT_ELBOW == 1)position=4095-position;break; - case(WRIST):if(INVERT_BASE == 1)position=4095-position;break; + case(WRIST):if(INVERT_WRIST == 1)position=1023-position;break; } return (position);