Code

[RSDK-2226] audit GPIO servo code#2283

Code

Merged

penguinland merged 31 commits intoviamrobotics:mainviamrobotics/rdk:mainfrom penguinland:servo_refactorpenguinland/rdk:servo_refactorCopy head branch name to clipboardApr 27, 2023

+115-79

Commits

Commits on Apr 24, 2023

• lowercase S in microsecond suffix

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  a202740

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• tweak comments

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  728c791

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• add explanatory comment

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• more tweaks to text

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  06aec2f

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• update test to match new error message

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  fdebaf0

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• rename min->minDeg and max->maxDeg

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  c5c0785

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• point out the frequency we're checking in the error

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  ad52574

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• add comment

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• tweak: don't create variables until you're going to use them, helps with silhouette consistency

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  ac2b683

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• scaffolding: remove this TODO later

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  29edfe0

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• remove obvious comments

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• comment tweak

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  678ce5d

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• Rename scale -> degsPerUs or usPerDeg

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• add comment

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  40dfbd5

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• don't multiply by 1

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  9f3da1e

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• fix comment

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  fb10e97

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• error messages should be unique, to pinpoint where they came from

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  233d3b4

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• Add comment

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  16bc42b

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• REVERTME: add debug information

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  3302de7

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• clean up from rebase

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Commits on Apr 25, 2023

• initialize the servo's frequency

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• remove debugging info, name magic constant

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  f6b2aa9

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• try fixing bad rebase again. How did this get through last time?

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  8207659

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• Remove redundant if statement

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  0240a7b

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• Move min/max time calculations higher, in anticipation of using them earlier

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• don't set the frequency so high that you can't move to the longest position

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Commits on Apr 26, 2023

• pr feedback

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  8b65489

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• pr feedback: the deadband width is smaller than minUs

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  5fb5c9b

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• make lint

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  d5a9c65

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• get tests to pass again

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Commits on Apr 27, 2023

• make the maximum deadband width 50 microseconds

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