debug

piconaut-caaar.ino

@@ -89,9 +89,6 @@ void loop() {
 
     // Map the duty cycle value to the range of -1.0 to 1.0
     mappedDutyCycles[i] = mapFloat(dutyCycle, minDutyCycle[i], maxDutyCycle[i], -1.0, 1.0);
-    Serial.print(i);
-    Serial.print(" ");
-    Serial.println(period);
     // Apply deadzone
     if (mappedDutyCycles[i] > -deadzone && mappedDutyCycles[i] < deadzone) {
       mappedDutyCycles[i] = 0.0;
@@ -126,17 +123,16 @@ void loop1() {
   updateServos();
   handleSerialCommands();  
   // Print the pin name and the mapped duty cycle in a format suitable for the Serial Plotter
-  /*for (int i = 0; i < numPins; i++) {
+  for (int i = 0; i < numPins; i++) {
     Serial.print(pwmPins[i]);
     Serial.print(":");
     Serial.print(mappedDutyCycles[i]);
-
     if (i < numPins - 1) {
       Serial.print(",");
     } else {
       Serial.println();
     }
-  }*/
+  }
 
   delay(1); // Wait for 1ms before the next transmission
 }
@@ -229,6 +225,11 @@ void modeCheck(){
 }
 
 void updateServos(){
-  servo1->setPWM(servoPins[0],60,servo1Perc+5.5f);  //accelerateur
-  servo2->setPWM(servoPins[1],60,servo2Perc);  //dir
+  float s1v = (servo1Perc/2)+(6.25f+1.625f);//-1.9f;
+  float s2v = (servo2Perc/2)+(6.25f+1.625f);
+  servo1->setPWM(servoPins[0],60,s1v);  //accelerateur
+  servo2->setPWM(servoPins[1],60,s2v);  //dir
+  Serial.print(s1v);
+  Serial.print(" ");
+  Serial.println(s2v);
 }