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Remove unnecessary servo output demands.

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If start and end position of a servo movement are identical, skip all but the last step.
This commit is contained in:
Neil McKechnie 2021-08-12 12:02:18 +01:00
parent ec503e7d3e
commit 5932b4d101
1 changed files with 4 additions and 0 deletions
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4
IO_PCA9685.cpp
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@ -196,6 +196,10 @@ void PCA9685::updatePosition(uint8_t pin) {
struct ServoData *s = _servoData[pin]; struct ServoData *s = _servoData[pin];
if (!s) return; if (!s) return;
if (s->numSteps == 0) return; // No animation in progress if (s->numSteps == 0) return; // No animation in progress
if (s->stepNumber == 0 && s->fromPosition == s->toPosition) {
// No movement required, so go straight to final step
s->stepNumber = s->numSteps;
}
if (s->stepNumber < s->numSteps) { if (s->stepNumber < s->numSteps) {
// Animation in progress, reposition servo // Animation in progress, reposition servo
s->stepNumber++; s->stepNumber++;