Servo.h

/*
 *  Servo.h - Servo Header file for the Spresense SDK
 *  Copyright 2018 Sony Semiconductor Solutions Corporation
 *
 *  This library is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU Lesser General Public
 *  License as published by the Free Software Foundation; either
 *  version 2.1 of the License, or (at your option) any later version.
 *
 *  This library is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *  Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public
 *  License along with this library; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef Servo_h
#define Servo_h
 
// #ifdef __cplusplus
 
#include <stdbool.h>
#include <stdint.h>
 
// Pin number of unattached pins
#define SERVO_NOT_ATTACHED          (0xFF)
 
// Default min/max pulse widths (in microseconds) and angles (in degrees).
#define SERVO_MIN_ANGLE             (0)
#define SERVO_MAX_ANGLE             (180)
 
#define SERVO_MIN_PULSE_WIDTH       (544)     // the shortest pulse sent to a servo
#define SERVO_MAX_PULSE_WIDTH       (2400)    // the longest pulse sent to a servo
 
#define SERVO_DEFAULT_PULSE_WIDTH   (1500)      // default pulse width when servo is attached
#define SERVO_REFRESH_INTERVAL      (2500)     // minumim time to refresh servos in microseconds
#define SERVO_REFRESH_FREQUENCY     (1000000L / SERVO_REFRESH_INTERVAL)
 
class Servo
{
public:
    Servo();
 
    ~Servo();
 
    bool attach(uint8_t pin,
                uint16_t min_pulse_width = SERVO_MIN_PULSE_WIDTH,
                uint16_t max_pulse_width = SERVO_MAX_PULSE_WIDTH,
                uint16_t min_angle = SERVO_MIN_ANGLE,
                uint16_t max_angle = SERVO_MAX_ANGLE);
 
    bool detach();
 
    void write(uint16_t angle);
 
    void writeMicroseconds(uint16_t pulse_width);
 
    uint16_t read() const;
 
    bool attached() const { return this->pin_ != SERVO_NOT_ATTACHED; }
 
    uint8_t attachedPin() const { return this->pin_; }
 
private:
    uint8_t pin_;
    uint16_t min_pw_;
    uint16_t max_pw_;
    uint16_t min_angle_;
    uint16_t max_angle_;
    uint16_t angle_;
};
 
// #endif // __cplusplus
 
#endif //Servo_h