mrm-servo.h

#pragma once
#include "Arduino.h"
#include <esp32-hal-ledc.h>
#include <mrm-board.h>
 
#define MAX_SERVO_COUNT 10 // Maximum number of servo motors, the number cannot be bigger than 16 since there are 16 PWM channels in ESP32
#define MRM_SERVO_FREQUENCY_HZ 50 // Pulse occures FREQUENCY_HZ times each second. For 50 Hz period of one pulse is 20 ms.
 
typedef bool(*BreakCondition)();
 
class Mrm_servo
{
    uint16_t _minDegrees;
    float _minDegreesPulseMs;
    uint16_t _maxDegrees;
    float _maxDegreesPulseMs;
    char _name[MAX_SERVO_COUNT][10]; // Device's name
    int nextFree;
    uint8_t _timerWidth;
    Robot* robotContainer;
    float f;
 
public:
    Mrm_servo(Robot* robot = NULL);
 
    ~Mrm_servo();
 
    void add(uint8_t gpioPin = 16, char* deviceName = (char *)"", uint16_t minDegrees = 0, uint16_t maxDegrees = 180, float minDegreesPulseMs = 1, float maxDegreesPulseMs = 2, uint8_t timerWidth = 12);
 
    void sweep();
 
    void test();
 
    void write(uint16_t degrees = 90, uint8_t servoNumber = 0);
 
    void writeInteractive();
};