fixed max min height and stepping problem

src/desk-controller.cpp

@@ -16,7 +16,7 @@ using namespace desk;
 using namespace usb2lin06;
 
 #define MIN_HEIGHT 0
-#define MAX_HEIGHT 52
+#define MAX_HEIGHT 68
 #define STOP_DELAY 2
 #define SMALL_STEP_TIME 220
 
@@ -63,6 +63,8 @@ Controller::setOffset(int offset)
 		f_out << m_offset;
 		f_out.close();
 	}
+	m_maxHeight = m_offset + MAX_HEIGHT;
+	m_minHeight = m_offset + MIN_HEIGHT;
 }
 
 int
@@ -162,11 +164,12 @@ LinakDesk::setHeight(int height)
 {
 	cout << __func__ << ": " << height << endl;
 	unique_lock<mutex> lck(m_cmdMutex);
+	height -= m_offset;
 	m_targetHeight = height > MAX_HEIGHT? MAX_HEIGHT : height;
-	m_targetHeight = height < MIN_HEIGHT? MIN_HEIGHT : height;
+	m_targetHeight = m_targetHeight < MIN_HEIGHT? MIN_HEIGHT : m_targetHeight;
 	lck.unlock();
-	cout << __func__ << "set height: " << m_targetHeight << endl;
-	m_queue.addMessage(height);
+	cout << __func__ << " set height: " << m_targetHeight << endl;
+	m_queue.addMessage(m_targetHeight);
 }
 
 int
@@ -243,6 +246,7 @@ LinakDesk::doDeskControl(void)
 		m_currentHeight = getInternalHeight();
 		lck.unlock();
 		cout << "currentHeight=" << m_currentHeight << endl;
+		cout << "target_height=" << target_height << endl;
 
 		if (target_height >= (m_currentHeight - STOP_DELAY) && target_height <= (m_currentHeight + STOP_DELAY) && !m_smallStep)
 		{
@@ -272,7 +276,6 @@ LinakDesk::doDeskControl(void)
 					}
 				}
 			} while (m_finished == true);
-			target_height -= m_offset;
 			uint delta = abs(m_currentHeight - target_height);
 			m_smallStep = (delta <= STOP_DELAY) ? true : false;
 		}
@@ -302,11 +305,13 @@ LinakDesk::doDeskControl(void)
 		}
 		else if (m_currentHeight < target_height)
 		{
+			cout << "up" << endl;
 			bool state = move(Command::up);
 			usleep(10000);
 		}
 		else
 		{
+			cout << "down" << endl;
 			bool state = move(Command::down);
 			usleep(10000);
 		}