.. _program_listing_file_src_tap_motor_servo.cpp:

Program Listing for File servo.cpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_motor_servo.cpp>` (``src/tap/motor/servo.cpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot 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 General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #include "servo.hpp"
   
   #include "tap/algorithms/math_user_utils.hpp"
   #include "tap/architecture/clock.hpp"
   #include "tap/drivers.hpp"
   #include "tap/errors/create_errors.hpp"
   
   namespace tap
   {
   namespace motor
   {
   Servo::Servo(
       Drivers *drivers,
       tap::gpio::Pwm::Pin pwmPin,
       float maximumPwm,
       float minimumPwm,
       float pwmRampSpeed)
       : drivers(drivers),
         pwmOutputRamp(0.0f),
         maxPwm(tap::algorithms::limitVal<float>(maximumPwm, 0.0f, 1.0f)),
         minPwm(tap::algorithms::limitVal<float>(minimumPwm, 0.0f, 1.0f)),
         pwmRampSpeed(pwmRampSpeed),
         prevTime(0),
         servoPin(pwmPin)
   {
       if (maxPwm < minPwm)
       {
           minPwm = 0.0f;
           maxPwm = 1.0f;
           RAISE_ERROR(drivers, "min servo PWM > max servo PWM");
       }
   }
   
   void Servo::setTargetPwm(float pwm)
   {
       pwmOutputRamp.setTarget(tap::algorithms::limitVal<float>(pwm, minPwm, maxPwm));
       prevTime = tap::arch::clock::getTimeMilliseconds();
   }
   
   void Servo::updateSendPwmRamp()
   {
       uint32_t currTime = tap::arch::clock::getTimeMilliseconds();
       pwmOutputRamp.update(pwmRampSpeed * (currTime - prevTime));
       prevTime = currTime;
       currentPwm = pwmOutputRamp.getValue();
       drivers->pwm.write(pwmOutputRamp.getValue(), servoPin);
   }
   
   float Servo::getPWM() const { return currentPwm; }
   
   float Servo::getMinPWM() const { return minPwm; }
   
   float Servo::getMaxPWM() const { return maxPwm; }
   
   bool Servo::isRampTargetMet() const { return pwmOutputRamp.isTargetReached(); }
   
   }  // namespace motor
   
   }  // namespace tap