73 lines
1.7 KiB
C++
73 lines
1.7 KiB
C++
#pragma once
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#include <stdint.h>
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#include <math.h>
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#include "pico/stdlib.h"
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#include "hardware/pwm.h"
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#include "hardware/clocks.h"
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#include "common/pimoroni_common.hpp"
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#include "calibration.hpp"
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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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// Constants
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//--------------------------------------------------
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public:
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static const uint16_t DEFAULT_PWM_FREQUENCY = 50; //The standard servo update rate
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private:
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static const uint32_t MAX_PWM_WRAP = UINT16_MAX;
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static constexpr uint16_t MAX_PWM_DIVIDER = (1 << 7);
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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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uint pin;
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pwm_config pwm_cfg;
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uint16_t pwm_period;
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float pwm_frequency = DEFAULT_PWM_FREQUENCY;
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ServoState state;
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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, Type type = ANGULAR);
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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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bool is_enabled();
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void enable();
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void disable();
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float get_value();
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void set_value(float value);
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float get_pulse();
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void set_pulse(float pulse);
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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 = 0.0f, float in_max = 1.0f);
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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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};
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} |