add multi core, servo class

Use core 0 for ultrasonic detection
Use a custom class to pilot servo

include/Servo.h

@@ -1,18 +1,40 @@
-#ifndef SERVO_H
-#define SERVO_H
+#ifndef PAMI_SERVO_H
+#define PAMI_SERVO_H
 
-#define MAX_US 544
-#define MIN_US 2400
+#define DEFAULT_MIN_US 544
+#define DEFAULT_MAX_US 2400
+
+#define DEFAULT_MIN_ANGLE 0
+#define DEFAULT_MAX_ANGLE 180
 
 class Servo {
 private:
-    const int channel;
-    const int pin;
-    const int min;
-    const int max;
+    int channel{};
+    int pin{};
+    int min_us{};
+    int max_us{};
+    int min_angle{};
+    int max_angle{};
+
+    void initServo() const;
 
 public:
+    Servo();
+
+    Servo(int pin, int channel, int min_angle = DEFAULT_MIN_ANGLE, int max_angle = DEFAULT_MAX_ANGLE,
+          int min_us = DEFAULT_MIN_US,
+          int max_us = DEFAULT_MAX_US);
+
+    void writeAngle(int angle) const;
+
+    void writeUs(int us) const;
+
+    /**
+     * Write to the servo the value as degree if it's in the degree range of the servo otherwise as us value
+     * @param value The value to write in angle or us
+     */
+    void write(int value) const;
 };
 
 
-#endif //SERVO_H
+#endif //PAMI_SERVO_H

include/main.h

@@ -1,5 +1,5 @@
-#ifndef MAIN_H
-#define MAIN_H
+#ifndef PAMI_MAIN_H
+#define PAMI_MAIN_H
 
 enum Direction {
     FORWARD,
@@ -46,7 +46,6 @@ struct Step {
 #define ECHO_PIN 12
 // Servo Moteur
 #define SERVO_PIN 15
-// FIXME : Je sais pas, loop sous le bouton d'arret d'urgence
 #define EMG_PIN 5
 
 #endif
@@ -90,4 +89,4 @@ struct Step {
 #define STEPS_PER_REV 200.0
 #define MICROSTEPPING 8.0
 
-#endif // MAIN_H
+#endif // PAMI_MAIN_H

include/utils.h

@@ -1,5 +1,5 @@
-#ifndef UTILS_H
-#define UTILS_H
+#ifndef PAMI_UTILS_H
+#define PAMI_UTILS_H
 
 void enableMotorDrivers();
 
@@ -9,6 +9,4 @@ int getStepsForDistance(float cm);
 
 int getRotationSteps(float angleDeg);
 
-void setServoAngle(int angle, int channel = 0);
-
-#endif // UTILS_H
+#endif // PAMI_UTILS_H