Servo.hh

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#ifndef COSA_SERVO_HH
#define COSA_SERVO_HH

#include "Cosa/Types.h"
#include "Cosa/OutputPin.hh"

class Servo : private OutputPin {
public:
  Servo(uint8_t ix, Board::DigitalPin pin) :
    OutputPin(pin),
    m_min(MIN_WIDTH),
    m_max(MAX_WIDTH)
  {
    angle(INIT_ANGLE);
    servo[ix != 0] = this;
  }

  static bool begin();

  static bool end();

  void pulse(uint16_t min, uint16_t max)
    __attribute__((always_inline))
  {
    m_min = min;
    m_max = max;
  }

  uint16_t width() const
  {
    return (m_width);
  }

  void angle(uint8_t degree);

  uint8_t angle() const
  {
    return (m_angle);
  }

private:
  static const uint16_t PERIOD = 20000;
  static const uint16_t MIN_WIDTH = 650;
  static const uint16_t MAX_WIDTH = 2300;
  static const uint8_t INIT_ANGLE = 90;

  static Servo* servo[2];

  uint16_t m_min;
  uint16_t m_max;
  uint16_t m_width;
  uint8_t m_angle;

  friend void TIMER1_COMPA_vect(void);
  friend void TIMER1_COMPB_vect(void);
};

#endif