68 lines
2.3 KiB
C++
68 lines
2.3 KiB
C++
#ifndef MANAGED_SERVO_H
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#define MANAGED_SERVO_H
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#if ( defined(ARDUINO_ARCH_RP2040) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
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defined(ARDUINO_GENERIC_RP2040) ) && !defined(ARDUINO_ARCH_MBED)
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#if !defined(RP2040_ISR_SERVO_USING_MBED)
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#define RP2040_ISR_SERVO_USING_MBED false
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#endif
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#elif ( defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
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defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED)
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#if !defined(RP2040_ISR_SERVO_USING_MBED)
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#define RP2040_ISR_SERVO_USING_MBED true
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#endif
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#else
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#error This code is intended to run on the mbed / non-mbed RP2040 platform! Please check your Tools->Board setting.
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#endif
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#define ISR_SERVO_DEBUG 0
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#include "RP2040_ISR_Servo/RP2040_ISR_Servo.hpp"
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// The ManagedServo class is a wrapper around the Servo class that
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// provides range checking and absolute limits on the servo position
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// so that the model can't be asked to attain any position that would
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// damage the model.
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class ManagedServo {
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public:
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// Constructor
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ManagedServo(uint8_t servoPin, uint8_t minPosition, uint8_t maxPosition, uint8_t defaultPosition, bool invertAngles);
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virtual ~ManagedServo();
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// Accessors
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inline uint8_t getServoPin() const { return mServoPin; }
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inline uint8_t getMinPosition() const { return mMinPosition; }
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inline uint8_t getMaxPosition() const { return mMaxPosition; }
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inline void setMinPosition(uint8_t minPosition) { if(minPosition > 0 && minPosition < 180) mMinPosition = minPosition; }
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inline void setMaxPosition(uint8_t maxPosition) { if(maxPosition > 0 && maxPosition < 180) mMaxPosition = maxPosition; }
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inline uint8_t getDefaultPosition() { return mDefaultPosition; }
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// Initialization
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void setupServo();
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// Position control
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void setServoPosition(uint8_t position);
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inline uint8_t getServoPosition() const { return mCurrentPosition; }
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void moveToMaxPosition();
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void moveToMinPosition();
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private:
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uint8_t mServoPin;
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uint8_t mMinPosition;
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uint8_t mMaxPosition;
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uint8_t mDefaultPosition;
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uint8_t mCurrentPosition;
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bool mInvertAngles;
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int mISRServoIndex;
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};
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#endif |