bissen21/Marlin_Firmware
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Use macros where possible

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Apply `constrain`, `NOMORE`, `NOLESS` and `CRITICAL_SECTION` macros
wherever possible.
This commit is contained in:
Scott Lahteine
2016-02-21 22:17:32 -08:00
parent c8f76bb8aa
commit 209f5f21e0
8 changed files with 21 additions and 31 deletions
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17
Marlin/servo.cpp
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@ -269,9 +269,7 @@ void Servo::detach() {
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
if (value < 0) value = 0;
if (value > 180) value = 180;
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
}
this->writeMicroseconds(value);
}
@ -280,18 +278,13 @@ void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
byte channel = this->servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
if (value < SERVO_MIN()) // ensure pulse width is valid
value = SERVO_MIN();
else if (value > SERVO_MAX())
value = SERVO_MAX();
value = value - TRIM_DURATION;
// ensure pulse width is valid
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
uint8_t oldSREG = SREG;
cli();
CRITICAL_SECTION_START;
servo_info[channel].ticks = value;
SREG = oldSREG;
CRITICAL_SECTION_END;
}
}