PqServo.h

/*
 * PqServo.h
 *
 * (c) 2017 Sofian Audry        :: info(@)sofianaudry(.)com
 *
 * This program is free software: you can redistribute it and/|| modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, ||
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY || 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef PQ_SERVO_H_
#define PQ_SERVO_H_
 
#ifndef PQ_ARCH_SUPPORTS_SERVO
#if (defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM) || \
     defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_NRF52))
  #define PQ_ARCH_SUPPORTS_SERVO 1
#else
  #define PQ_ARCH_SUPPORTS_SERVO 0
#endif
#endif
 
#if PQ_ARCH_SUPPORTS_SERVO
 
#include "PqCore.h"
#include <Servo.h>
 
namespace pq {
 
class AbstractServoOut : public AnalogSource, public Servo {
protected:
  AbstractServoOut(uint8_t pin, Engine& engine = Engine::primary());
 
public:
  virtual ~AbstractServoOut();
 
  virtual float put(float value);
 
  uint8_t pin() const { return _pin; }
 
  virtual void activate() { attach(_pin); }
 
  virtual void deactivate() { detach(); }
 
  virtual bool isActive() { return attached(); }
 
protected:
  virtual void begin();
 
  // Servo pin (must be PWM).
  uint8_t _pin;
};
 
class ServoOut : public AbstractServoOut {
public:
  ServoOut(uint8_t pin, Engine& engine = Engine::primary());
 
  virtual float putAngle(float angle);
 
  virtual float getAngle();
 
  virtual void center() { put(0.5); }
};
 
class ContinuousServoOut : public AbstractServoOut {
public:
  ContinuousServoOut(uint8_t pin, Engine& engine = Engine::primary());
 
  virtual void stop();
 
  virtual void reverse();
 
protected:
  virtual void begin();
};
 
} // namespace pq
 
#endif
#endif