v1.5.9 fix writeStretch()

uArm-Developer · Jun 2, 2016 · 65192cc · 65192cc
1 parent 015d42f
commit 65192cc
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Showing 4 changed files with 13 additions and 9 deletions.
diff --git a/HISTORY.md b/HISTORY.md
@@ -1,3 +1,8 @@
+## [1.5.9] - 2016-06-01
+
+### Fix
+- Fix writeStretch() offset address not correct
+
 ## [1.5.8] - 2016-05-07
 
 ### Fix

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=uArmLibrary
-version=1.5.6
+version=1.5.8
 author=UFactory <[email protected]>
 maintainer=Joey Song <[email protected]>, Alex Tan<[email protected]>
 sentence=uArm Library for Arduino

diff --git a/uarm_library.cpp b/uarm_library.cpp
@@ -57,13 +57,13 @@ void uArmClass::alert(byte times, byte runTime, byte stopTime)
 void uArmClass::writeAngle(double servo_rot_angle, double servo_left_angle, double servo_right_angle, double servo_hand_rot_angle)
 {
   attachAll();
-  
+
   if(servo_left_angle < 10) servo_left_angle = 10;
   if(servo_left_angle > 120) servo_left_angle = 120;
   if(servo_right_angle < 10) servo_right_angle = 10;
   if(servo_right_angle > 110) servo_right_angle = 110;
 
-  if(servo_left_angle + servo_right_angle > 160) 
+  if(servo_left_angle + servo_right_angle > 160)
   {
     servo_right_angle = 160 - servo_left_angle;
     return;
@@ -72,7 +72,7 @@ void uArmClass::writeAngle(double servo_rot_angle, double servo_left_angle, doub
   writeServoAngle(SERVO_LEFT_NUM,servo_left_angle,true);
   writeServoAngle(SERVO_RIGHT_NUM,servo_right_angle,true);
   writeServoAngle(SERVO_HAND_ROT_NUM,servo_hand_rot_angle,true);
-  
+
 
   // refresh logical servo angle cache
   cur_rot = servo_rot_angle;
@@ -387,8 +387,9 @@ void uArmClass::writeStretch(double armStretch, double armHeight){
     }
     double offsetL = 0;
     double offsetR = 0;
-    EEPROM.get(OFFSET_STRETCH_START_ADDRESS + 1 * sizeof(offsetL), offsetL);
-    EEPROM.get(OFFSET_STRETCH_START_ADDRESS + 2 * sizeof(offsetR), offsetR);
+
+    EEPROM.get(OFFSET_STRETCH_START_ADDRESS, offsetL);
+    EEPROM.get(OFFSET_STRETCH_START_ADDRESS + 4, offsetR);
     armStretch = constrain(armStretch, ARM_STRETCH_MIN, ARM_STRETCH_MAX) + 68;
     armHeight  = constrain(armHeight, ARM_HEIGHT_MIN, ARM_HEIGHT_MAX);
     double xx = armStretch*armStretch + armHeight*armHeight;

diff --git a/uarm_library.h b/uarm_library.h
@@ -3,9 +3,7 @@
 * Author             : Joey Song
 * Updated            : Joey Song, Alex Tan, Dave Corboy
 * Email              : [email protected]
-* Version            : V1.4.0
 * Date               : 12 Dec, 2014
-* Modified Date      : 11 Apr, 2016
 * Description        :
 * License            :
 * Copyright(C) 2016 UFactory Team. All right reserved.
@@ -22,7 +20,7 @@
 
 #define UARM_MAJOR_VERSION      1
 #define UARM_MINOR_VERSION      5
-#define UARM_BUGFIX             8
+#define UARM_BUGFIX             9
 
 #define SERVO_ROT_NUM           0
 #define SERVO_LEFT_NUM          1