19 if(!_fb360c.servoCog) servo360_run();
20 int p = servo360_findServoIndex(pin);
23 if(position >= _fs[p].angleMax) position = _fs[p].angleMax;
24 if(position <= _fs[p].angleMin) position = _fs[p].angleMin;
26 while(
lockset(_fb360c.lock360));
28 _fs[p].sp = position * S360_UNITS_ENCODER / _fs[p].unitsRev;
29 _fs[p].csop = S360_POSITION;
32 _fs[p].speedTarget = 0;
33 _fs[p].angleError = 0;
37 _fs[p].derivativeV = 0;