Mercurial > ukubik

changeset 72:6be60d8eb0a2

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
Do reversing on arduino side
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Wed, 10 Sep 2014 21:00:25 +0200
parents d4356df0be42
children d944b23935e4
files servo/servo.ino
diffstat 1 files changed, 7 insertions(+), 5 deletions(-) [+]
line wrap: on
line diff
--- a/servo/servo.ino	Wed Sep 10 20:37:27 2014 +0200
+++ b/servo/servo.ino	Wed Sep 10 21:00:25 2014 +0200
@@ -40,13 +40,13 @@
     {1, -50},  // front right
     {-1, 0}, // front left
     {1, -50},   // hind left
-    {-1, 50},  // hind right
+    {-1, -50},  // hind right
 
     // knees
     {1, -70},
-    {-1, -50},
+    {-1, 50},
     {1, 30},
-    {-1, -50},
+    {-1, 50},
 
     // hips
     {-1, 0},
@@ -90,8 +90,10 @@
 }
 
 void servo_write(int servo, int us) {
-    int trim = joints[servo][1];
-    int pos = min(max(us + trim, SERVO_FREQ_MIN), SERVO_FREQ_MAX);
+    int pos = min(max(us + joints[servo][1], SERVO_FREQ_MIN), SERVO_FREQ_MAX);
+    if (joints[servo][0] < 0) {
+        pos = SERVO_FREQ_MAX + SERVO_FREQ_MIN - pos;
+    }
     servos[servo].writeMicroseconds(pos);
 }