libstp.step.servo.utility
=========================

.. py:module:: libstp.step.servo.utility


Functions
---------

.. autoapisummary::

   libstp.step.servo.utility.clamp_angle
   libstp.step.servo.utility.clamp_position
   libstp.step.servo.utility.estimate_servo_move_time
   libstp.step.servo.utility.angle_to_position
   libstp.step.servo.utility.position_to_angle


Module Contents
---------------

.. py:function:: clamp_angle(angle: float) -> float

   Clamp an angle to the supported servo range.


.. py:function:: clamp_position(position: float) -> float

   Clamp a servo position to the supported range.


.. py:function:: estimate_servo_move_time(start_angle: float, end_angle: float) -> float

   Estimate time (in seconds) for a servo to move between two angles.
   Returns 0 when the delta is zero to avoid unnecessary sleeps.


.. py:function:: angle_to_position(angle: float) -> int

   Convert an angle (degrees) to the HAL position representation.
   Currently this is a 1:1 mapping onto degrees with clamping.


.. py:function:: position_to_angle(position: int) -> float

   Convert a HAL position reading to an angle in degrees.