Servo.h

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/* Copyright (c) 2019 Skyward Experimental Rocketry
 * Authors: Luca Erbetta, Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#ifndef COMPILE_FOR_HOST
#include <drivers/timer/PWM.h>
#endif
 
#include "ServoData.h"
 
#pragma once
 
namespace Boardcore
{
 
class Servo
{
public:
#ifndef COMPILE_FOR_HOST
    explicit Servo(TIM_TypeDef* const timer, TimerUtils::Channel pwmChannel,
                   unsigned int minPulse = 1000, unsigned int maxPulse = 2000,
                   unsigned int frequency = 50);
#else
    explicit Servo(unsigned int minPulse = 1000, unsigned int maxPulse = 2000,
                   unsigned int frequency = 50);
#endif
 
    void enable();
 
    void disable();
 
    void setPosition(float position, bool limited = true);
 
    void setPosition90Deg(float degrees);
 
    void setPosition120Deg(float degrees);
 
    void setPosition180Deg(float degrees);
 
    void setPosition360Deg(float degrees);
 
    float getPosition();
 
    float getPosition90Deg();
 
    float getPosition180Deg();
 
    float getPosition360Deg();
 
    ServoData getState();
 
private:
    // This class is not copyable!
    Servo& operator=(const Servo&) = delete;
    Servo(const Servo& s)          = delete;
 
#ifndef COMPILE_FOR_HOST
    PWM pwm;
    TimerUtils::Channel pwmChannel;
#else
    float dutyCycle;
#endif
 
    float minPulse;
    float maxPulse;
    float frequency;
};
class Servo {…};
 
}  // namespace Boardcore