77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "calibration.hpp"
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namespace servo {
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class ServoState {
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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_FREQUENCY = 50.0f; // The standard servo update rate
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static constexpr float MIN_FREQUENCY = 10.0f; // Lowest achievable with hardware PWM with good resolution
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static constexpr float MAX_FREQUENCY = 350.0f; // Highest nice value that still allows the full uS pulse range
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// Some servos are rated for 333Hz for instance
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static constexpr float ZERO_PERCENT = 0.0f;
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static constexpr float ONEHUNDRED_PERCENT = 1.0f;
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private:
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static constexpr float MIN_VALID_PULSE = 1.0f;
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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float servo_value = 0.0f;
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float last_enabled_pulse = 0.0f;
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bool enabled = false;
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Calibration calib;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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ServoState();
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ServoState(CalibrationType default_type);
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ServoState(const Calibration& calibration);
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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float enable();
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float disable();
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bool is_enabled() const;
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private:
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float _enable(); // Internal version of enable without convenient initialisation to the middle
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public:
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float get_pulse() const;
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float set_pulse(float pulse);
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float get_value() const;
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float set_value(float value);
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public:
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float get_min_value() const;
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float get_mid_value() const;
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float get_max_value() const;
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float to_min();
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float to_mid();
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float to_max();
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float to_percent(float in, float in_min = ZERO_PERCENT, float in_max = ONEHUNDRED_PERCENT);
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float to_percent(float in, float in_min, float in_max, float value_min, float value_max);
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Calibration& calibration();
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const Calibration& calibration() const;
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//--------------------------------------------------
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static uint32_t pulse_to_level(float pulse, uint32_t resolution, float freq);
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};
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} |