Fix min and max for Servo library (#5064)

tagno25 · earlephilhower · commit 18f643c7e2d6 · 2018-08-20T09:01:07.000-07:00
Use the optionally defined min/max values instead of the hard-coded limits
for pulse widths.
diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp
@@ -91,12 +91,12 @@ void Servo::detach()
 void Servo::write(int value)
 {
   // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
-  if (value < MIN_PULSE_WIDTH) {
+  if (value < _minUs) {
     // assumed to be 0-180 degrees servo
     value = constrain(value, 0, 180);
     // writeMicroseconds will contrain the calculated value for us
     // for any user defined min and max, but we must use default min max
-    value = improved_map(value, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+    value = improved_map(value, 0, 180, _minUs, _maxUs);
   }
   writeMicroseconds(value);
 }
@@ -113,7 +113,7 @@ int Servo::read() // return the value as degrees
 {
   // read returns the angle for an assumed 0-180, so we calculate using 
   // the normal min/max constants and not user defined ones
-  return improved_map(readMicroseconds(), MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, 0, 180);
+  return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);
 }
 
 int Servo::readMicroseconds()

Original file line number	Diff line number	Diff line change
`@@ -91,12 +91,12 @@ void Servo::detach()`
`91`	`91`	`void Servo::write(int value)`
`92`	`92`	`{`
`93`	`93`	`// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)`
`94`		`- if (value < MIN_PULSE_WIDTH) {`
	`94`	`+ if (value < _minUs) {`
`95`	`95`	`// assumed to be 0-180 degrees servo`
`96`	`96`	`value = constrain(value, 0, 180);`
`97`	`97`	`// writeMicroseconds will contrain the calculated value for us`
`98`	`98`	`// for any user defined min and max, but we must use default min max`
`99`		`- value = improved_map(value, 0, 180, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);`
	`99`	`+ value = improved_map(value, 0, 180, _minUs, _maxUs);`
`100`	`100`	`}`
`101`	`101`	`writeMicroseconds(value);`
`102`	`102`	`}`
`@@ -113,7 +113,7 @@ int Servo::read() // return the value as degrees`
`113`	`113`	`{`
`114`	`114`	`// read returns the angle for an assumed 0-180, so we calculate using`
`115`	`115`	`// the normal min/max constants and not user defined ones`
`116`		`- return improved_map(readMicroseconds(), MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, 0, 180);`
	`116`	`+ return improved_map(readMicroseconds(), _minUs, _maxUs, 0, 180);`
`117`	`117`	`}`
`118`	`118`
`119`	`119`	`int Servo::readMicroseconds()`