fix servo positioning bug

Former-commit-id: 64a639bb37825090a8e2592781ef186bd35336a1 Former-commit-id: 7ddb20e
SwerveRobotics · Nov 29, 2015 · 18868af · 18868af
1 parent 5805a45
commit 18868af
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Showing 2 changed files with 4 additions and 5 deletions.
diff --git a/...sLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyServoController.java b/...sLibrary/src/main/java/org/swerverobotics/library/internal/EasyLegacyServoController.java
@@ -4,7 +4,6 @@
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.*;
 import com.qualcomm.robotcore.util.Range;
-import com.qualcomm.robotcore.util.TypeConversion;
 import org.swerverobotics.library.BuildConfig;
 import org.swerverobotics.library.SynchronousOpMode;
 import org.swerverobotics.library.interfaces.*;
@@ -270,7 +269,7 @@ public synchronized void setServoPosition(int servo, double position)
         {
         validateServo(servo);
         position = Range.clip(position, positionMin, positionMax);  // note: runtime formerly threw on range error
-        double bPosition = Range.scale(position, positionMin, positionMax, bPositionMin, bPositionMax);
+        double bPosition = Range.scale(position, positionMin, positionMax, regPositionMin, regPositionMax);
         this.write(ADDRESS_CHANNEL_MAP[servo], bPosition);
         this.pwmEnable();
 

diff --git a/...sLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernServoController.java b/...sLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernServoController.java
@@ -36,8 +36,8 @@ public class EasyModernServoController extends EasyModernController implements S
 
     public static final double positionMin = 0.0;
     public static final double positionMax = 1.0;
-    public static final byte   bPositionMin = 0;
-    public static final byte   bPositionMax = (byte)255;
+    public static final double regPositionMin = 0;
+    public static final double regPositionMax = 255;
 
     private List<Servo>                              servos;
     private final double[]                           servoPositions;
@@ -233,7 +233,7 @@ public void setServoPosition(int servo, double position)
         {
         validateServo(servo);
         position = Range.clip(position, positionMin, positionMax);  // note: runtime formerly threw on range error
-        double bPosition = Range.scale(position, positionMin, positionMax, bPositionMin, bPositionMax);
+        double bPosition = Range.scale(position, positionMin, positionMax, regPositionMin, regPositionMax);
         this.write(ADDRESS_CHANNEL_MAP[servo], bPosition);
         this.pwmEnable();