Changed scaling for servo duty cycle

vanderbiltrobotics · Apr 28, 2019 · 5e45292 · 5e45292
1 parent 01488e6
commit 5e45292
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/robot_motor_control/src/camera_motor_control.py b/robot_motor_control/src/camera_motor_control.py
@@ -21,8 +21,8 @@ def __init__(self, pinNumber):
 
     def setCameraAngle(self, theta):
 
-        # Convert from range -90 to 90 to range 0 to 100
-        duty_cycle = (theta.data + 90) / 1.8
+        # Convert from range -90 to 90 to range 2.22 to 10.0 (this is the good range for the servo)
+        duty_cycle = ((theta.data + 90) / 180.0) * (7.88) + 2.22
 
         # Send new duty cycle to servo
         self.p.ChangeDutyCycle(duty_cycle)