121 lines
3.8 KiB
C++
121 lines
3.8 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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namespace servo {
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enum CalibrationType {
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ANGULAR = 0,
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LINEAR,
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CONTINUOUS
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};
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class Calibration {
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//--------------------------------------------------
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// Constants
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//--------------------------------------------------
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public:
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static constexpr float DEFAULT_MIN_PULSE = 500.0f; // in microseconds
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static constexpr float DEFAULT_MID_PULSE = 1500.0f; // in microseconds
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static constexpr float DEFAULT_MAX_PULSE = 2500.0f; // in microseconds
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static const uint MAX_CALIBRATION_PAIRS = 32;
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private:
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static constexpr float LOWER_HARD_LIMIT = 400.0f; // The minimum microsecond pulse to send
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static constexpr float UPPER_HARD_LIMIT = 2600.0f; // The maximum microsecond pulse to send
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//--------------------------------------------------
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// Substructures
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//--------------------------------------------------
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public:
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struct Pair {
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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Pair();
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Pair(float pulse, float value);
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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float pulse;
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float value;
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};
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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Calibration();
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Calibration(CalibrationType default_type);
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Calibration(const Calibration &other);
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virtual ~Calibration();
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//--------------------------------------------------
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// Operators
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//--------------------------------------------------
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public:
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Calibration &operator=(const Calibration &other);
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Pair &operator[](uint8_t index);
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const Pair &operator[](uint8_t index) const;
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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void apply_blank_pairs(uint size);
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void apply_two_pairs(float min_pulse, float max_pulse, float min_value, float max_value);
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void apply_three_pairs(float min_pulse, float mid_pulse, float max_pulse, float min_value, float mid_value, float max_value);
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void apply_uniform_pairs(uint size, float min_pulse, float max_pulse, float min_value, float max_value);
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void apply_default_pairs(CalibrationType default_type);
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uint size() const;
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Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
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const Pair &pair(uint8_t index) const; // Ensure the pairs are assigned in ascending value order
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float pulse(uint8_t index) const;
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void pulse(uint8_t index, float pulse);
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float value(uint8_t index) const;
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void value(uint8_t index, float value);
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Pair &first();
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const Pair &first() const;
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float first_pulse() const;
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void first_pulse(float pulse);
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float first_value() const;
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void first_value(float value);
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Pair &last();
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const Pair &last() const;
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float last_pulse() const;
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void last_pulse(float pulse);
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float last_value() const;
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void last_value(float value);
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bool has_lower_limit() const;
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bool has_upper_limit() const;
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void limit_to_calibration(bool lower, bool upper);
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bool value_to_pulse(float value, float &pulse_out, float &value_out) const;
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bool pulse_to_value(float pulse, float &value_out, float &pulse_out) const;
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static float map_float(float in, float in_min, float in_max, float out_min, float out_max);
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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Pair calibration[MAX_CALIBRATION_PAIRS];
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uint calibration_size;
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bool limit_lower;
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bool limit_upper;
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};
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} |