Diff: servo.cpp

Revision:

1:aa92ba95a4bb

Parent:

0:b14dfd8816da

diff -r b14dfd8816da -r aa92ba95a4bb servo.cpp
--- 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);