41 lines
1.6 KiB
C++
41 lines
1.6 KiB
C++
#pragma once
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#include <Arduino.h>
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#include "RangedMotor.hpp"
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#include "AdafruitPWMBoard.hpp"
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class AdafruitServoMotor : public RangedMotor
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{
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public:
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AdafruitServoMotor(
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AdafruitPWMBoard& driver,
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const uint8_t motorIndex,
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const float gearboxRatio,
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const float scaleCalibration,
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const float zeroOffset,
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const float minSafeAngle,
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const float maxSafeAngle,
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const float specRangeDeg, // 180 for a 180-deg-servo, 270 for a 270-deg-servo, etc ...
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const float initialPosition = 0,
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const uint16_t minPulseLength = 125,
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const uint16_t maxPulseLength = 625
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) noexcept;
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// Returns true if the motion is accepted, false if it is outside of safe bounds.
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// If out of safe bounds, maximum or minimun safe value will be assumen
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bool moveTo(const float target) noexcept override;
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float getPosition() const noexcept override { return hardwareAngleToVirtualAngle(currentHardwarePosition); };
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// Will apply the current position immediately, no matter how small the move might be.
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void commitMoveImmediately() noexcept;
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protected:
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uint16_t hardwareAngleToPulse(const float hardwareAngle) const noexcept;
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AdafruitPWMBoard& driver;
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const uint8_t motorIndex;
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float currentHardwarePosition = 0;
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float lastCommittedHardwarePosition = 0;
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float specRangeDeg;
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const uint16_t minPulseLength;
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const uint16_t maxPulseLength;
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};
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