Controling Ultra Torque Hi-tec Servo motors using Arduino

Projects Programming
20

These are the two functions in the library

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());
    }
    this->writeMicroseconds(value);
}

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;
        value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009

        uint8_t oldSREG = SREG;
        cli();
        servos[channel].ticks = value;
        SREG = oldSREG;
    }
}

Note the comment in the write() function

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