Hi Alexis,
Control Specification:
"Pulse Width Modification" -- Chinglish alert!
Neutral 1500µs -- that's fine.
Running Degree 270° -- I assume that means 500µs to 2500µs moves it from -135° to +135°.
Your servo moves 135° per 1000us of pulse width change, so I would modify my equation to:
delayMicroseconds(1500 - 1000/135.0 * euler.z())
If we include 10:1 gear reduction, then the headlight moves only 13.5° per 1000us of pulse width change:
delayMicroseconds(1500 - 1000/13.5 * euler.z())
I assume euler.z() is the angle (in degrees) that you want the headlight to move.
I don't understand your PG and PL variables.
Question for BNO055
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