Program Listing for File servo.hpp

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/*
 * 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/>.
 */

#ifndef TAPROOT_SERVO_HPP_
#define TAPROOT_SERVO_HPP_

#include "tap/algorithms/ramp.hpp"
#include "tap/communication/gpio/pwm.hpp"

namespace tap
{
class Drivers;
namespace motor
{
class Servo
{
public:
    Servo(
        Drivers *drivers,
        tap::gpio::Pwm::Pin currpwmPinPort,
        float maximumPwm,
        float minimumPwm,
        float pwmRampSpeed);

    void setTargetPwm(float PWM);

    void updateSendPwmRamp();

    float getPWM() const;

    float getMinPWM() const;

    float getMaxPWM() const;

    bool isRampTargetMet() const;

private:
    Drivers *drivers;

    tap::algorithms::Ramp pwmOutputRamp;

    float maxPwm;

    float minPwm;

    float currentPwm;

    float pwmRampSpeed;

    uint32_t prevTime = 0;

    tap::gpio::Pwm::Pin servoPin;
};  // class Servo

}  // namespace motor

}  // namespace tap

#endif  // TAPROOT_SERVO_HPP_