Merge branch 'main' into fix-oled

mirte-robot · Oct 27, 2023 · 5edd6ba · 5edd6ba
2 parents 8ad5340 + 335c426
commit 5edd6ba
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/.gitignore b/.gitignore
@@ -1 +1,3 @@
 __pycache__
+
+.vscode/
diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -378,12 +378,18 @@ def __init__(self, board, servo_obj):
         self.board = board
         self.pins = get_pin_numbers(servo_obj)
         self.name = servo_obj["name"]
+        self.min_pulse = 544
+        if "min_pulse" in servo_obj:
+            self.min_pulse = servo_obj["min_pulse"]
+        self.max_pulse = 2400
+        if "max_pulse" in servo_obj:
+            self.max_pulse = servo_obj["max_pulse"]
 
     async def stop(self):
         await board.detach_servo(self.pins["pin"])
 
     async def start(self):
-        await board.set_pin_mode_servo(self.pins["pin"])
+        await board.set_pin_mode_servo(self.pins["pin"], self.min_pulse, self.max_pulse)
         server = rospy.Service(
             "/mirte/set_" + self.name + "_servo_angle",
             SetServoAngle,