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Removed min/max check on servo_write since the range 0-180 does not apply to all joint types

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This commit is contained in:
Patrick Goebel 2015-12-17 16:20:52 -08:00
parent 3e6ab35cbf
commit c2614fc25e
1 changed files with 1 additions and 4 deletions
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5
ros_arduino_python/src/ros_arduino_python/arduino_driver.py
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@ -29,9 +29,6 @@ import sys, traceback
from serial.serialutil import SerialException from serial.serialutil import SerialException
from serial import Serial from serial import Serial
SERVO_MAX = 180
SERVO_MIN = 0
class Arduino: class Arduino:
''' Configuration Parameters ''' Configuration Parameters
''' '''
@ -318,7 +315,7 @@ class Arduino:
''' Usage: servo_write(id, pos) ''' Usage: servo_write(id, pos)
Position is given in radians and converted to degrees before sending Position is given in radians and converted to degrees before sending
''' '''
return self.execute_ack('s %d %d' %(id, min(SERVO_MAX, max(SERVO_MIN, degrees(pos))))) return self.execute_ack('s %d %d' %(id, degrees(pos)))
def servo_read(self, id): def servo_read(self, id):
''' Usage: servo_read(id) ''' Usage: servo_read(id)