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Fix: Capture a new start value - otherwise the loop will terminate prematurely due to a wrong timeout value. #60

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Merged
merged 1 commit into from
Feb 22, 2022
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Fix: Capture a new start value - otherwise the loop will terminate prematurely due to a wrong timeout value. #60

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2 changes: 1 addition & 1 deletion examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,6 @@ bool set_initial_servo_position(int const id, float const target_angle)
auto isTimeout = [](unsigned long const start) -> bool { return ((millis() - start) > 2000); };

auto start = millis();

Serial.print("Connecting .... ");
for (; !Braccio.get(id).connected() && !isTimeout(start); delay(10)) { }
if (!isTimeout(start))
Expand Down Expand Up @@ -82,6 +81,7 @@ bool set_initial_servo_position(int const id, float const target_angle)

static float constexpr EPSILON = 2.0f;

start = millis();
for ( float current_angle = Braccio.get(id).position();
!isTargetAngleReached(EPSILON) && !isTimeout(start);)
{
Expand Down