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Merged
yameatmeyourdead merged 1 commit into from
May 2, 2025
Merged

I didn't do the merge right #70

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17 changes: 0 additions & 17 deletions src/rov/rov_pca9685/src/ServoDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,23 +58,6 @@ void ServoDriver::setThrottle(uint8_t channel, float throttle) {
driver_board.setUS(channel, f2imap(throttle, -1.0, 1.0, s->us_minimum, s->us_maximum));
}

void ServoDriver::setDuty(uint8_t channel, float duty) {
driver_board.setDuty(channel, duty);
}

void ServoDriver::setUS(uint8_t channel, uint16_t us) {
driver_board.setUS(channel, us);
}

void ServoDriver::setThrottle(uint8_t channel, float throttle) {
if (!continuous_servos.count(channel)) {
RCLCPP_WARN(rclcpp::get_logger("ServoDriver"), "Attempted to set throttle on non-continuous servo");
return;
}
ContinuousServo* s = &continuous_servos[channel];
driver_board.setUS(channel, f2imap(throttle, -1.0, 1.0, s->us_minimum, s->us_maximum));
}

void ServoDriver::setAngle(uint8_t channel, float angle) {
if (!servos.count(channel)) {
RCLCPP_WARN(rclcpp::get_logger("ServoDriver"), "Attempted to set angle on continuous servo");
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