small changes

tock · Nov 20, 2024 · f79bf0a · f79bf0a
1 parent b60f9d2
commit f79bf0a
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Showing 3 changed files with 6 additions and 13 deletions.
diff --git a/examples/servo/main.c b/examples/servo/main.c
@@ -13,7 +13,7 @@ int main(void) {
   returncode_t result  = RETURNCODE_EOFF;
   uint16_t servo_count = 0;
   libtock_servo_count(&servo_count);
-  printf("The number of available servomotors is: %d", servo_count);
+  printf("The number of available servomotors is: %d\n", servo_count);
   uint16_t angle = 0;
   uint16_t index = 0; // the first index available.
 
@@ -30,11 +30,8 @@ int main(void) {
       libtocksync_alarm_delay_ms(100);
       // Verifies if the function successfully returned the current angle.
       if (libtock_servo_read_angle(index, &angle) == RETURNCODE_SUCCESS) {
-        printf("\nThe current angle is: %d", angle);
+        printf("Requested angle %d. Actual current angle is: %d\n", i, angle);
       }
-    } else if (result == RETURNCODE_EINVAL) {
-      printf("\nThe angle you provided exceeds 360 degrees\n");
-      return -1;
     } else if (result == RETURNCODE_FAIL) {
       printf("\nAngle %d exceeds the servo's limit angle.\n", i);
     }

diff --git a/libtock/interface/syscalls/servo_syscalls.c b/libtock/interface/syscalls/servo_syscalls.c
@@ -5,12 +5,10 @@ bool libtock_servo_exists(void) {
   return driver_exists(DRIVER_NUM_SERVO);
 }
 
-returncode_t libtock_servo_count(uint16_t* servo_count) {
+returncode_t libtock_servo_count(uint32_t* servo_count) {
   uint32_t value     = 0;
   syscall_return_t r = command(DRIVER_NUM_SERVO, 1, 0, 0);
-  // Converts the returned value stored in `r`
-  // and assigns it to `ret`.
-  returncode_t ret = tock_command_return_u32_to_returncode(r, &value);
+  returncode_t ret   = tock_command_return_u32_to_returncode(r, &value);
   *servo_count = (uint16_t)value;
   return ret;
 
@@ -24,9 +22,7 @@ returncode_t libtock_servo_set_angle(uint16_t index, uint16_t angle) {
 returncode_t libtock_servo_read_angle(uint16_t index, uint16_t* angle) {
   uint32_t value     = 0;
   syscall_return_t r = command(DRIVER_NUM_SERVO, 3, index, 0);
-  // Converts the value returned by the servo, stored in `r`
-  // and assigns it to `ret`.
-  returncode_t ret = tock_command_return_u32_to_returncode(r, &value);
+  returncode_t ret   = tock_command_return_u32_to_returncode(r, &value);
   *angle = (uint16_t)value;
   return ret;
 }
diff --git a/libtock/interface/syscalls/servo_syscalls.h b/libtock/interface/syscalls/servo_syscalls.h
@@ -11,7 +11,7 @@ extern "C" {
 // Check if the servo system call driver is available on this board.
 bool libtock_servo_exists(void);
 // Returns the number of available servomotors.
-returncode_t libtock_servo_count(uint16_t* servo_count);
+returncode_t libtock_servo_count(uint32_t* servo_count);
 // Change the angle.
 returncode_t libtock_servo_set_angle(uint16_t index, uint16_t angle);
 // Requests the current angle from the servo.