implement AFServoMotor

AdafruitPWMBoard.hpp

@@ -0,0 +1,27 @@
+#pragma once
+#include <Arduino.h>
+#include <Adafruit_PWMServoDriver.h>
+
+// Wrapper class to prevent duplicate motor port assignments
+// This board can drive up to 16 motors
+class AdafruitPWMBoard
+{
+    public:
+        AdafruitPWMBoard(const uint8_t addr, const uint8_t pwmFreq);
+
+        Adafruit_PWMServoDriver& get() noexcept { return hwif; };
+        const Adafruit_PWMServoDriver& get() const noexcept { return hwif; };
+        bool isGood() const noexcept { return good; }
+        bool isMotorSlotOccupied(const uint8_t motorIndex) const noexcept;
+        // Returns false if the slot is already occupied or index is out of range
+        bool occupyMotorSlot(const uint8_t motorIndex) noexcept;
+        // Returns false if the slot is already free or index is out of range
+        bool releaseMotorSlot(const uint8_t motorIndex) noexcept;
+
+
+    private:
+        // No release needed, hardware interface does not expose any method for release
+        Adafruit_PWMServoDriver hwif;
+        bool good;
+        uint16_t occupiedMotorSlots = 0;
+};