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minor servo fixes

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This commit is contained in:
Maxim Devaev 2021-08-15 10:23:54 +03:00
parent c644a9f6e1
commit a340fc6053
1 changed files with 14 additions and 15 deletions
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27
kvmd/plugins/ugpio/servo.py
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@ -44,15 +44,14 @@ class Plugin(PwmPlugin):
period: int,
duty_cycle_min: int,
duty_cycle_max: int,
angle_min: int,
angle_max: int,
angle_push: int,
angle_release: int,
angle_min: float,
angle_max: float,
angle_push: float,
angle_release: float,
) -> None:
#FIXME - Should we implement check for angles to be between the rangle ranges
#FIXME - Same for duty_cycle_push and release to be in ranges (maybe in pwm.py)
angle_push = min(max(angle_push, angle_min), angle_max)
angle_release = min(max(angle_release, angle_min), angle_max)
duty_cycle_per_degree = (duty_cycle_max - duty_cycle_min) / (angle_max - angle_min)
@ -71,16 +70,16 @@ class Plugin(PwmPlugin):
@classmethod
def get_plugin_options(cls) -> Dict:
valid_angle = (lambda arg: valid_number(arg, min=-360, max=360, type=float))
valid_angle = (lambda arg: valid_number(arg, min=-360.0, max=360.0, type=float))
return {
"chip": Option(0, type=valid_int_f0),
"period": Option(20000000, type=valid_int_f0),
"duty_cycle_min": Option(1000000, type=valid_int_f0),
"duty_cycle_max": Option(2000000, type=valid_int_f0),
"angle_min": Option(0, type=valid_angle),
"angle_max": Option(180, type=valid_angle),
"angle_push": Option(100, type=valid_angle),
"angle_release": Option(120, type=valid_angle),
"duty_cycle_min": Option(1000000, type=valid_int_f0),
"duty_cycle_max": Option(2000000, type=valid_int_f0),
"angle_min": Option(0.0, type=valid_angle),
"angle_max": Option(180.0, type=valid_angle),
"angle_push": Option(100.0, type=valid_angle),
"angle_release": Option(120.0, type=valid_angle),
}
def __str__(self) -> str: