//=============================================================================
// FUNCTION: uint16_t read()
//
// DESCRIPTION: Gets the last written servo pulse width as an angle between 0 and 180.
//
// INPUT: Nothing
//
// RETURNS: Angle between 0 and 180
//
//=============================================================================
uint16_t Servo8Bit::read()
{
//make sure we have a valid servo number. If it's invalid then exit doing nothing.
if(myServoNumber == invalidServoNumber) return 0;
uint16_t servoPulseLengthInUs = readMicroseconds();
uint16_t servoPositionInDegrees = map(servoPulseLengthInUs, myMin, myMax, 0, 180);
return servoPositionInDegrees;
}//end read
int Servo::read() // return the value as degrees
{
// read returns the angle for an assumed 0-180, so we calculate using
// the normal min/max constants and not user defined ones
return improved_map(readMicroseconds(), MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, 0, 180);
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180);
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds(), _minUs, _maxUs, 0, 180);
}
