Solved a problem when the emmulated servos were sent to their current...

Solved a problem when the emmulated servos were sent to their current position. The module got stucked.
Changed the emmulated servos motion range to 180 degrees instead of 300. Changed the limits accordingly.

motion/src/motion_manager.c

@@ -214,7 +214,7 @@ uint8_t manager_init(uint8_t num_servos)
     else if(model==0x0C00)// Emmulated servos from the expansion board pan&tilt servos
     {
       enable_servo(id);
-      manager_servos[id].angle=300;
+      manager_servos[id].angle=180;
       manager_servos[id].max_value=1023;
       manager_servos[id].min_value=0;
       manager_servos[id].center_value=512;

motion/src/pan_tilt.c

@@ -60,14 +60,16 @@ void pan_move_angle(int8_t pan_angle)
     }
     else
     {
-      pan_current_angle=manager_servos[pan_servo_id].current_value<<7;
-      pan_target_angle=((uint32_t)(((int32_t)pan_angle*(int32_t)manager_servos[pan_servo_id].max_value)/((int32_t)manager_servos[pan_servo_id].angle))+(uint32_t)manager_servos[pan_servo_id].center_value);
+      pan_target_angle=(uint32_t)((((int32_t)pan_angle*(int32_t)manager_servos[pan_servo_id].max_value)/((int32_t)manager_servos[pan_servo_id].angle)+(int32_t)manager_servos[pan_servo_id].center_value));
       if(pan_target_angle>manager_servos[pan_servo_id].ccw_limit)
         pan_target_angle=manager_servos[pan_servo_id].ccw_limit;
       else if(pan_target_angle<manager_servos[pan_servo_id].cw_limit)
         pan_target_angle=manager_servos[pan_servo_id].cw_limit;
-      pan_target_angle=pan_target_angle<<7;
-      pan_moving=0x01;
+      if(manager_servos[pan_servo_id].current_value==pan_target_angle)
+        pan_moving=0x00;
+      else  
+        pan_moving=0x01;
+      pan_target_angle=(pan_target_angle<<7);
     }
   }
 }
@@ -99,14 +101,16 @@ void tilt_move_angle(int8_t tilt_angle)
     }
     else
     {
-      tilt_current_angle=manager_servos[tilt_servo_id].current_value<<7;
-      tilt_target_angle=(((int32_t)tilt_angle*(int32_t)manager_servos[tilt_servo_id].max_value)/((int32_t)manager_servos[tilt_servo_id].angle))+manager_servos[tilt_servo_id].center_value;
+      tilt_target_angle=(int32_t)((((int32_t)tilt_angle*(int32_t)manager_servos[tilt_servo_id].max_value)/((int32_t)manager_servos[tilt_servo_id].angle)+(int32_t)manager_servos[tilt_servo_id].center_value));
       if(tilt_target_angle>manager_servos[tilt_servo_id].ccw_limit)
         tilt_target_angle=manager_servos[tilt_servo_id].ccw_limit;
       else if(tilt_target_angle<manager_servos[tilt_servo_id].cw_limit)
         tilt_target_angle=manager_servos[tilt_servo_id].cw_limit;
-      tilt_target_angle=tilt_target_angle<<7;
-      tilt_moving=0x01;
+      if(manager_servos[tilt_servo_id].current_value==tilt_target_angle)
+        tilt_moving=0x00;
+      else
+        tilt_moving=0x01;
+      tilt_target_angle=(tilt_target_angle<<7);
     }
   }
 }
@@ -161,7 +165,7 @@ void pan_tilt_process(void)
         if(pan_current_angle<=pan_target_angle)
         {
           pan_current_angle=pan_target_angle;
-         pan_moving=0x00;
+          pan_moving=0x00;
         }
       }
     }
@@ -203,7 +207,7 @@ void pan_tilt_process(void)
           tilt_moving=0x00;
         }  
       }
-    }  
+    } 
   }
   manager_servos[tilt_servo_id].current_value=(tilt_current_angle>>7);
 }