133 lines
3.5 KiB
C++
133 lines
3.5 KiB
C++
#include "servo_state.hpp"
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namespace servo {
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ServoState::ServoState()
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: servo_value(0.0f), last_enabled_pulse(0.0f), enabled(false) {
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}
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ServoState::ServoState(CalibrationType default_type)
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: servo_value(0.0f), last_enabled_pulse(0.0f), enabled(false), calib(default_type) {
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}
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ServoState::ServoState(const Calibration& calibration)
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: servo_value(0.0f), last_enabled_pulse(0.0f), enabled(false), calib(calibration) {
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}
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float ServoState::enable_with_return() {
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// Has the servo not had a pulse value set before being enabled?
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if(last_enabled_pulse < MIN_VALID_PULSE) {
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// Set the servo to its middle
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return to_mid_with_return();
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}
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return _enable_with_return();
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}
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float ServoState::disable_with_return() {
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enabled = false;
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return 0.0f; // A zero pulse
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}
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float ServoState::_enable_with_return() {
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enabled = true;
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return last_enabled_pulse;
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}
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bool ServoState::is_enabled() const {
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return enabled;
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}
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float ServoState::get_pulse() const {
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return last_enabled_pulse;
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}
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float ServoState::set_pulse_with_return(float pulse) {
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if(pulse >= MIN_VALID_PULSE) {
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float value_out, pulse_out;
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if(calib.pulse_to_value(pulse, value_out, pulse_out)) {
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servo_value = value_out;
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last_enabled_pulse = pulse_out;
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return _enable_with_return();
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}
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}
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return disable_with_return();
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}
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float ServoState::get_value() const {
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return servo_value;
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}
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float ServoState::set_value_with_return(float value) {
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float pulse_out, value_out;
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if(calib.value_to_pulse(value, pulse_out, value_out)) {
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last_enabled_pulse = pulse_out;
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servo_value = value_out;
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return _enable_with_return();
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}
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return disable_with_return();
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}
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float ServoState::get_min_value() const {
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float value = 0.0f;
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if(calib.size() > 0) {
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value = calib.first().value;
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}
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return value;
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}
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float ServoState::get_mid_value() const {
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float value = 0.0f;
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if(calib.size() > 0) {
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const Calibration::Pair &first = calib.first();
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const Calibration::Pair &last = calib.last();
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value = (first.value + last.value) / 2.0f;
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}
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return value;
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}
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float ServoState::get_max_value() const {
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float value = 0.0f;
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if(calib.size() > 0) {
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value = calib.last().value;
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}
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return value;
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}
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float ServoState::to_min_with_return() {
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return set_value_with_return(get_min_value());
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}
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float ServoState::to_mid_with_return() {
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return set_value_with_return(get_mid_value());
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}
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float ServoState::to_max_with_return() {
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return set_value_with_return(get_max_value());
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}
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float ServoState::to_percent_with_return(float in, float in_min, float in_max) {
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float value = Calibration::map_float(in, in_min, in_max, get_min_value(), get_max_value());
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return set_value_with_return(value);
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}
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float ServoState::to_percent_with_return(float in, float in_min, float in_max, float value_min, float value_max) {
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float value = Calibration::map_float(in, in_min, in_max, value_min, value_max);
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return set_value_with_return(value);
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}
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Calibration& ServoState::calibration() {
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return calib;
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}
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const Calibration& ServoState::calibration() const {
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return calib;
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}
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uint32_t ServoState::pulse_to_level(float pulse, uint32_t resolution, float freq) {
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uint32_t level = 0;
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if(pulse >= MIN_VALID_PULSE) {
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level = (uint32_t)((pulse * (float)resolution * freq) / 1000000);
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}
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return level;
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}
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}; |