69 lines
1.7 KiB
C++
69 lines
1.7 KiB
C++
#pragma once
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include "servo_state.hpp"
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namespace servo {
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class Servo {
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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private:
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uint pin;
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ServoState state;
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pwm_config pwm_cfg;
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uint16_t pwm_period;
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float pwm_frequency;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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Servo(uint pin, CalibrationType default_type = ANGULAR, float freq = ServoState::DEFAULT_FREQUENCY);
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~Servo();
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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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// For print access in micropython
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uint get_pin() const;
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void enable();
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void disable();
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bool is_enabled() const;
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float get_value() const;
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void set_value(float value);
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float get_pulse() const;
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void set_pulse(float pulse);
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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() const;
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float get_mid_value() const;
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float get_max_value() const;
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void to_min();
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void to_mid();
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void to_max();
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void to_percent(float in, float in_min = ServoState::ZERO_PERCENT, float in_max = ServoState::ONEHUNDRED_PERCENT);
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void 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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private:
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void apply_pulse(float pulse);
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};
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} |