pimoroni-pico/drivers/servo/calibration.hpp

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#pragma once
#include "pico/stdlib.h"
namespace servo {
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enum CalibrationType {
ANGULAR = 0,
LINEAR,
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CONTINUOUS,
EMPTY
};
class Calibration {
//--------------------------------------------------
// Constants
//--------------------------------------------------
public:
static constexpr float DEFAULT_MIN_PULSE = 500.0f; // in microseconds
static constexpr float DEFAULT_MID_PULSE = 1500.0f; // in microseconds
static constexpr float DEFAULT_MAX_PULSE = 2500.0f; // in microseconds
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private:
static constexpr float LOWER_HARD_LIMIT = 400.0f; // The minimum microsecond pulse to send
static constexpr float UPPER_HARD_LIMIT = 2600.0f; // The maximum microsecond pulse to send
//--------------------------------------------------
// Substructures
//--------------------------------------------------
public:
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struct Point {
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
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Point();
Point(uint16_t pulse, float value);
//--------------------------------------------------
// Variables
//--------------------------------------------------
float pulse;
float value;
};
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//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
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public:
Calibration();
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Calibration(CalibrationType default_type);
virtual ~Calibration();
//--------------------------------------------------
// Methods
//--------------------------------------------------
public:
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void create_blank_calibration(uint size);
void create_two_point_calibration(float min_pulse, float max_pulse, float min_value, float max_value);
void create_three_point_calibration(float min_pulse, float mid_pulse, float max_pulse, float min_value, float mid_value, float max_value);
void create_uniform_calibration(uint size, float min_pulse, float max_pulse, float min_value, float max_value);
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void create_default_calibration(CalibrationType default_type);
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uint size() const;
Point* point_at(uint8_t index) const; // Ensure the points are assigned in ascending value order
Point* first_point() const;
Point* last_point() const;
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;
bool value_from_pulse(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);
//--------------------------------------------------
// Variables
//--------------------------------------------------
protected:
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Point* calibration;
uint calibration_size;
bool limit_lower;
bool limit_upper;
};
}