77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "pwm_cluster.hpp"
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#include "servo_state.hpp"
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namespace servo {
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class ServoCluster {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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pimoroni::PWMCluster pwms;
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uint32_t pwm_period;
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float pwm_frequency;
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ServoState* servos;
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float* servo_phases;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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ServoCluster(PIO pio, uint sm, uint pin_mask, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
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ServoCluster(PIO pio, uint sm, uint pin_base, uint pin_count, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
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ServoCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
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ServoCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY, bool auto_phase = true);
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~ServoCluster();
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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bool init();
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uint8_t get_count() const;
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uint8_t get_pin(uint8_t servo) const;
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void enable(uint servo, bool load = true);
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void disable(uint servo, bool load = true);
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bool is_enabled(uint servo) const;
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float get_pulse(uint servo) const;
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void set_pulse(uint servo, float pulse, bool load = true);
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float get_value(uint servo) const;
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void set_value(uint servo, float value, bool load = true);
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float get_phase(uint servo) const;
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void set_phase(uint servo, float phase, bool load = true);
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float get_frequency() const;
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bool set_frequency(float freq);
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//--------------------------------------------------
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float get_min_value(uint servo) const;
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float get_mid_value(uint servo) const;
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float get_max_value(uint servo) const;
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void to_min(uint servo, bool load = true);
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void to_mid(uint servo, bool load = true);
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void to_max(uint servo, bool load = true);
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void to_percent(uint servo, float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT, bool load = true);
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void to_percent(uint servo, float in, float in_min, float in_max, float value_min, float value_max, bool load = true);
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Calibration* calibration(uint servo);
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const Calibration* calibration(uint servo) const;
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//--------------------------------------------------
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private:
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void apply_pulse(uint servo, float pulse, bool load);
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void create_servo_states(CalibrationType default_type, bool auto_phase);
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};
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} |