Merged master

1 files changed, 2 insertions, 2 deletions

diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp
index acac29a..a716433 100755
--- a/libraries/Servo/Servo.cpp
+++ b/libraries/Servo/Servo.cpp
@@ -89,7 +89,7 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
   }  

   else { 

     // finished all channels so wait for the refresh period to expire before starting over 

-    if( (unsigned)*TCNTn <  (usToTicks(REFRESH_INTERVAL) + 4) )  // allow a few ticks to ensure the next OCR1A not missed

+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed

       *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);  

     else 

       *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed

@@ -298,7 +298,7 @@ void Servo::writeMicroseconds(int value)
 {

   // calculate and store the values for the given channel

   byte channel = this->servoIndex;

-  if( (channel >= 0) && (channel < MAX_SERVOS) )   // ensure channel is valid

+  if( (channel < MAX_SERVOS) )   // ensure channel is valid

   {  

     if( value < SERVO_MIN() )          // ensure pulse width is valid

       value = SERVO_MIN();