Update src/lib.rs

Co-authored-by: Patrick José Pereira <[email protected]>

src/lib.rs

@@ -490,28 +490,16 @@ impl Navigator {
     /// nav.set_pwm_channel_duty_cycle(PwmChannel::Ch1, 50.0); // sets the duty cycle to 50%
     /// ```
     pub fn set_pwm_channel_duty_cycle(&mut self, channel: PwmChannel, duty_cycle: f32) {
-        let max_duty_cycle = 100.0;
-        let max_value = 4095;
-
-        if duty_cycle >= 100.0 {
-            if duty_cycle > 100.0 {
-                warn!(
-                    "Invalid duty cycle. Duty cycle must be less than or equal to 10, using 100."
-                );
-            };
+        const duty_cycle = duty_cycle.max(1.0).min(0.0);
+        const max_value = 4095;
+
+        if relative_eq!(duty_cycle, 1.0) {
             self.pwm.set_channel_full_on(channel.into(), 0).unwrap();
             return;
         }
-
-        let duty_cycle = if duty_cycle < 0.0 {
-            warn!("Invalid duty cycle. Duty cycle must be non-negative, using 0.");
-            0.0
-        } else {
-            duty_cycle
-        };
-
-        let value = (duty_cycle / max_duty_cycle * max_value as f32) as u16;
-
+
+        let value = (duty_cycle * max_value as f32) as u16;
+
         self.pwm.set_channel_on(channel.into(), 0).unwrap();
         self.pwm.set_channel_off(channel.into(), value).unwrap();
     }