From 0f028e8d52b38386e74ec3468d196f26f750275a Mon Sep 17 00:00:00 2001
From: Nikolai Sukhanov <nvsukhanov@outlook.com>
Date: Wed, 13 Mar 2024 00:01:24 +0400
Subject: [PATCH] feat: reduce servo calibration result to mitigate motor
 straining at the ends of the range

---
 modules/shared/misc/src/lib/i-app-config.ts                  | 5 ++++-
 .../lib/hub-facades/hub-servo-calibration-facade.service.ts  | 5 +++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/modules/shared/misc/src/lib/i-app-config.ts b/modules/shared/misc/src/lib/i-app-config.ts
index 03bd460c..180dc495 100644
--- a/modules/shared/misc/src/lib/i-app-config.ts
+++ b/modules/shared/misc/src/lib/i-app-config.ts
@@ -18,6 +18,8 @@ export interface IAppConfig {
         readonly autoCalibrationRuns: number;
         readonly aposCenterMin: number;
         readonly aposCenterMax: number;
+        // 0.05 means 5% reduction. Used to reduce straining on the servo motor at the ends of the range.
+        readonly calibrationRangeResultReductionFactor: number;
     };
 }
 
@@ -38,7 +40,8 @@ export const APP_CONFIG = new InjectionToken<IAppConfig>('APP_CONFIG', {
             manualCalibrationRuns: 2,
             autoCalibrationRuns: 1,
             aposCenterMin: -MOTOR_LIMITS.maxServoDegreesRange / 2,
-            aposCenterMax: MOTOR_LIMITS.maxServoDegreesRange / 2
+            aposCenterMax: MOTOR_LIMITS.maxServoDegreesRange / 2,
+            calibrationRangeResultReductionFactor: 0.05
         }
     }),
     providedIn: 'root'
diff --git a/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts b/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts
index 89269f68..af59a149 100644
--- a/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts
+++ b/modules/store/src/lib/hub-facades/hub-servo-calibration-facade.service.ts
@@ -276,11 +276,12 @@ export class HubServoCalibrationFacadeService {
         const cwDistanceFromStartPosition = cwProbeResult - startRelativePosition;
 
         const arcCenterPosition = Math.round((ccwProbeResult + cwProbeResult) / 2);
-        const servoRange = Math.round(Math.abs(ccwDistanceFromStartPosition + cwDistanceFromStartPosition));
+        const rawServoRange = Math.round(Math.abs(ccwDistanceFromStartPosition + cwDistanceFromStartPosition));
+        const servoRange = rawServoRange * Math.max(0, 1 - this.appConfig.servo.calibrationRangeResultReductionFactor);
         const arcCenterAbsolutePosition = Math.round(transformRelativeDegToAbsoluteDeg(arcCenterPosition + encoderOffset));
 
         return {
-            servoRange: servoRange,
+            servoRange,
             arcCenterPosition,
             arcCenterAbsolutePosition
         };