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delay(SERVO_DELAY) => safe_delay(servo_delay[servo_index])

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This commit is contained in:
Scott Lahteine
2018-05-27 23:45:01 -05:00
parent 1ce97f1f6d
commit 9b9b62b218
7 changed files with 23 additions and 12 deletions
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6
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
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@ -42,8 +42,8 @@
*
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
* writeMicroseconds() - Set the servo pulse width in microseconds.
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
* move(pin, angle) - Sequence of attach(pin), write(angle), safe_delay(servo_delay[servoIndex]).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
* attached() - Return true if a servo is attached.
@ -148,7 +148,7 @@
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) { // notice the pin number is zero here
this->write(value);
delay(servo_delay[this->servoIndex]);
safe_delay(servo_delay[this->servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr); // shut down the PWM signal