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invert servo option

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legop3
2025-12-07 20:41:15 -05:00
parent b72c58452e
commit d857668109
5 changed files with 8 additions and 0 deletions
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pi/roverd/camera_servo.go
+6
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@@ -118,6 +118,9 @@ func (s *CameraServo) angleToPulse(angle float64) int {
}
norm := (angle - s.cfg.MinAngle) / totalRange
norm = math.Max(0, math.Min(1, norm))
if s.cfg.Invert {
norm = 1 - norm
}
pulseRange := s.cfg.MaxPulseUs - s.cfg.MinPulseUs
return s.cfg.MinPulseUs + int(math.Round(norm*float64(pulseRange)))
}
@@ -129,6 +132,9 @@ func (s *CameraServo) pulseToAngle(pulse int) float64 {
}
norm := float64(pulse-s.cfg.MinPulseUs) / float64(pulseRange)
norm = math.Max(0, math.Min(1, norm))
if s.cfg.Invert {
norm = 1 - norm
}
return s.cfg.MinAngle + norm*(s.cfg.MaxAngle-s.cfg.MinAngle)
}