servo.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * 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_