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servo: Add function SetAngleWithMicroseconds #695

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servo: Add function SetAngleWithMicroseconds #695

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fd6e3f7
servo: Add function `SetAngleWithMicroseconds`,Adjust the angle by cu…
PWND0U Jul 20, 2024
6614f48
servo: Add function `SetAngleWithMicroseconds`,Adjust the angle by cu…
PWND0U Jul 20, 2024
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13 changes: 13 additions & 0 deletions servo/servo.go
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Original file line number Diff line number Diff line change
Expand Up @@ -102,3 +102,16 @@ func (s Servo) SetAngle(angle int) error {

return nil
}

// SetAngleWithMicroseconds sets the angle of the servo in degrees. The angle should be between
// 0 and 180, where 0 is the minimum angle and 180 is the maximum angle.
// The high duration can be customized
// 0° is lowMicroseconds(us), 180° is highMicroseconds(us)
func (s Servo) SetAngleWithMicroseconds(angle int, lowMicroseconds, highMicroseconds int) error {
if angle < 0 || angle > 180 {
return ErrInvalidAngle
}
microseconds := lowMicroseconds + (highMicroseconds-lowMicroseconds)*angle/180
s.SetMicroseconds(int16(microseconds))
return nil
}
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