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Merge "Updates the C++ servo class to have the PWM values that are on the spec sheet"

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Brad Miller (WPI)
2014-05-30 11:42:27 -07:00
committed by Gerrit Code Review
parent 187aa7a138 884a374f4e
commit 9a145db3d5
2 changed files with 8 additions and 2 deletions
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5
wpilibc/include/Servo.h
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@@ -51,6 +51,9 @@ private:
return kMaxServoAngle - kMinServoAngle;
}
static constexpr float kMaxServoAngle = 170.0;
static constexpr float kMaxServoAngle = 180.0;
static constexpr float kMinServoAngle = 0.0;
static constexpr float kDefaultMaxServoPWM = 2.4;
static constexpr float kDefaultMinServoPWM = .6;
};

5
wpilibc/lib/Servo.cpp
View File

@@ -12,6 +12,9 @@
constexpr float Servo::kMaxServoAngle;
constexpr float Servo::kMinServoAngle;
constexpr float Servo::kDefaultMaxServoPWM;
constexpr float Servo::kDefaultMinServoPWM;
/**
* Common initialization code called by all constructors.
*
@@ -21,7 +24,7 @@ constexpr float Servo::kMinServoAngle;
void Servo::InitServo()
{
m_table = NULL;
SetBounds(2.27, 1.513, 1.507, 1.5, .743);
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetPeriodMultiplier(kPeriodMultiplier_4X);
LiveWindow::GetInstance()->AddActuator("Servo", GetModuleNumber(), GetChannel(), this);