Corrected code

there was some copy-paste error
LoBrol · Oct 31, 2022 · 884eed7 · 884eed7
1 parent dc53848
commit 884eed7
Showing 1 changed file with 15 additions and 6 deletions.
diff --git a/LinoRoboArm.h b/LinoRoboArm.h
@@ -24,17 +24,26 @@ class LinoRoboArm {
 
 
 
+/**
+ * @brief LinoRoboArm constructor, initialize Adafruit_PWMServoDriver library
+ * @return null
+ */
 LinoRoboArm::LinoRoboArm() {
  pwm = Adafruit_PWMServoDriver();
  pwm.begin();
  pwm.setOscillatorFrequency(27000000);
- pwm.setPWMFreq(SERVO_FREQ);
+ pwm.setPWMFreq(50);
 }
 
 
 
 
 
+/**
+ * @brief LinoRoboArm constructor, initialize Adafruit_PWMServoDriver library
+ * @param newPositions[] starting position for all the servos
+ * @return null
+ */
 LinoRoboArm::LinoRoboArm(uint16_t newPositions[]) {
  pwm = Adafruit_PWMServoDriver();
  pwm.begin();
@@ -95,10 +104,10 @@ void LinoRoboArm::setServos(uint16_t newPositions[6]) {
  * @param newPos Servo new position.
  * @return acceptable position.
  */
-uint16_t LinoRoboArm::checkPos(uint8_t servoID, uint16_t newPos) {
- if (pos < minPos[servo]) return minPos[servo];
- if (pos > maxPos[servo]) return maxPos[servo];
- return pos;
+uint16_t LinoRoboArm::checkValidPos(uint8_t servoID, uint16_t newPos) {
+ if (newPos < minPos[servoID]) newPos = minPos[servo];
+ if (newPos > maxPos[servoID]) newPos = maxPos[servo];
+ return newPos;
 }
 
 
@@ -141,4 +150,4 @@ void LinoRoboArm::printPositions() {
  Serial.print(",");
  }
  Serial.print(curPos[5]);
-}
+}