/**
* Set the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big
* assumption, need to test).
*
* Servo angles that are out of the supported range of the servo simply
* "saturate" in that direction
* In other words, if the servo has a range of (X degrees to Y degrees) than
* angles of less than X
* result in an angle of X being set and angles of more than Y degrees result in
* an angle of Y being set.
*
* @param degrees The angle in degrees to set the servo.
*/
void Servo::SetAngle(float degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
} else if (degrees > kMaxServoAngle) {
degrees = kMaxServoAngle;
}
SetPosition(((float)(degrees - kMinServoAngle)) / GetServoAngleRange());
}
/**
* Get the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
* @return The angle in degrees to which the servo is set.
*/
float Servo::GetAngle()
{
return (float)GetPosition() * GetServoAngleRange() + kMinServoAngle;
}