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Merged
yameatmeyourdead merged 1 commit into from
May 3, 2025
Merged

eric im going to strangle you :):):) #71

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8 changes: 4 additions & 4 deletions src/rov/rov_pca9685/include/pca9685/ServoDriver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,13 +15,13 @@ struct ServoBase {
};

struct Servo : ServoBase {
uint16_t us_minimum = 1000;
uint16_t us_maximum = 2000;
uint16_t us_minimum = 1100;
uint16_t us_maximum = 1900;
};

struct ContinuousServo : ServoBase {
uint16_t us_minimum = 1000;
uint16_t us_maximum = 2000;
uint16_t us_minimum = 1100;
uint16_t us_maximum = 1900;
};

class ServoDriver {
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2 changes: 1 addition & 1 deletion src/rov/rov_pca9685/src/PCA9685.cpp
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Expand Up @@ -82,7 +82,7 @@ void PCA9685::reset() {
}

void PCA9685::setFrequency(uint16_t frequency) {
static const uint16_t NUM_COUNTS = 3932; // scaling factor since clock sucks balls lol
static const uint16_t NUM_COUNTS = 4123; // scaling factor since clock sucks balls lol
static const uint16_t MIN_FREQUENCY = 24; // Hz
static const uint16_t MAX_FREQUENCY = 1526; // Hz
// if given frequency is not valid, do nothing
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4 changes: 2 additions & 2 deletions src/rov/rov_pca9685/src/ServoDriver.cpp
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Expand Up @@ -28,14 +28,14 @@ void ServoDriver::registerServo(uint8_t channel, ServoType type) {
case ServoType::POSITIONAL:
servos[channel] = Servo();
RCLCPP_INFO(rclcpp::get_logger("ServoDriver"), "Registered positional servo on channel %d", channel);
setUSBounds(channel, 1000, 2000);
setUSBounds(channel, 1100, 1900);
setAngle(channel, 90.0f);
break;

case ServoType::CONTINUOUS:
continuous_servos[channel] = ContinuousServo();
RCLCPP_INFO(rclcpp::get_logger("ServoDriver"), "Registered continuous servo on channel %d", channel);
setUSBounds(channel, 1000, 2000);
setUSBounds(channel, 1100, 1900);
setThrottle(channel, 0.0f);
break;
}
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