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41 lines
838 B
C++
41 lines
838 B
C++
#ifndef PAMI_SERVO_H
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#define PAMI_SERVO_H
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#define DEFAULT_MIN_US 544
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#define DEFAULT_MAX_US 2400
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#define DEFAULT_MIN_ANGLE 0
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#define DEFAULT_MAX_ANGLE 180
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class Servo {
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private:
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int channel{};
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int pin{};
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int min_us{};
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int max_us{};
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int min_angle{};
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int max_angle{};
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void initServo() const;
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public:
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Servo();
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Servo(int pin, int channel, int min_angle = DEFAULT_MIN_ANGLE, int max_angle = DEFAULT_MAX_ANGLE,
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int min_us = DEFAULT_MIN_US,
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int max_us = DEFAULT_MAX_US);
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void writeAngle(int angle) const;
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void writeUs(int us) const;
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/**
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* Write to the servo the value as degree if it's in the degree range of the servo otherwise as us value
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* @param value The value to write in angle or us
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*/
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void write(int value) const;
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};
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#endif //PAMI_SERVO_H
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