Siddhant Betrabet / MQTT_Servo_Spider_Robot

MQTT_Servo_Spider_Robot for the Project 2 of ECE59500

Files at this revision

API Documentation at this revision

Revision 4:28641fc3becc, committed 2019-05-02

Comitter:
sbetrabet
Date:
Thu May 02 07:07:50 2019 +0000
Parent:
3:36b69a7ced07
Commit message:
Made some changes to the signal

Changed in this revision

Servo.cpp Show annotated file Show diff for this revision Revisions of this file
Servo.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Servo.cpp	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.cpp	Thu May 02 07:07:50 2019 +0000
@@ -40,8 +40,8 @@
 }
 
 void Servo::write(float percent) {
-    float offset = _range * 2.0 * (percent - 0.5);
-    _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+    float offset = _range * 2.0 * (percent-0.5);
+    _pwm.pulsewidth(0.0013 + clamp(offset, -_range, _range));
     _p = clamp(percent, 0.0, 1.0);
 }
 

--- a/Servo.h	Thu Sep 02 17:34:43 2010 +0000
+++ b/Servo.h	Thu May 02 07:07:50 2019 +0000
@@ -81,7 +81,7 @@
      * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
      * @param degrees Angle from centre to maximum/minimum position in degrees
      */
-    void calibrate(float range = 0.0005, float degrees = 45.0); 
+    void calibrate(float range = 0.0011, float degrees = 90.0); 
         
     /**  Shorthand for the write and read functions */
     Servo& operator= (float percent);