ServoMotor.hpp

Go to the documentation of this file.

 
#pragma once
 
#if defined(ESP32)
#include <ESP32Servo.h>
#else
#include <Servo.h>
#endif
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../Motor.hpp"
 
namespace smartcarlib
{
namespace constants
{
namespace servomotor
{
const int kDefaultMinPulseLength  = 1000;
const int kDefaultIdlePulseLength = 1500;
const int kDefaultMaxPulseLength  = 2000;
} // namespace servomotor
} // namespace constants
} // namespace smartcarlib
 
class ServoMotor : public Servo, public Motor
{
public:
    explicit ServoMotor(
        uint8_t controlPin,
        int minPulseLength  = smartcarlib::constants::servomotor::kDefaultMinPulseLength,
        int idlePulseLength = smartcarlib::constants::servomotor::kDefaultIdlePulseLength,
        int maxPulseLength  = smartcarlib::constants::servomotor::kDefaultMaxPulseLength);
 
    /* Check `Motor` interface for documentation */
    void setSpeed(int speed) override;
 
private:
    const uint8_t kControlPin;
    const int kMinPulseLength;
    const int kIdlePulseLength;
    const int kMaxPulseLength;
    bool mAttached{ false };
};