implement AFServoMotor

AdafruitServoMotor.hpp

@@ -0,0 +1,39 @@
+#pragma once
+#include <Arduino.h>
+#include "RangedMotor.hpp"
+#include "AdafruitPWMBoard.hpp"
+
+class AdafruitServoMotor : public RangedMotor
+{
+    public:
+        AdafruitServoMotor(
+            AdafruitPWMBoard& driver,
+            const uint8_t motorIndex,
+            const float gearboxRatio,
+            const float scaleCalibration,
+            const float zeroOffset,
+            const float minSafeAngle,
+            const float maxSafeAngle,
+            const float specRangeDeg, // 180 for a 180-deg-servo, 270 for a 270-deg-servo, etc ...
+            const uint16_t minPulseLength = 125,
+            const uint16_t maxPulseLength = 125,
+            const float initialPosition = 0
+        ) noexcept;
+
+        // Returns true if the motion is accepted, false if it is outside of safe bounds.
+        bool moveTo(const float target) noexcept override;
+        float getPosition() const noexcept override { return hardwareAngleToVirtualAngle(currentHardwarePosition); };
+
+        // Will apply the current position immediately, no matter how small the move might be.
+        void commitMoveImmediately() noexcept;
+
+    protected:
+        uint16_t hardwareAngleToPulse(const float hardwareAngle) const noexcept;
+        AdafruitPWMBoard& driver;
+        const uint8_t motorIndex;
+        float currentHardwarePosition = 0;
+        float lastCommittedHardwarePosition = 0;
+        float specRangeDeg;
+        const uint8_t minPulseLength;
+        const uint8_t maxPulseLength;
+};