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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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.
*
* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <Arduino.h>
class Servo {
static const int MIN_ANGLE = 0,
MAX_ANGLE = 180,
MIN_PULSE_WIDTH = 544, // Shortest pulse sent to a servo
MAX_PULSE_WIDTH = 2400, // Longest pulse sent to a servo
TAU_MSEC = 20,
TAU_USEC = (TAU_MSEC * 1000),
MAX_COMPARE = _BV(16) - 1, // 65535
CHANNEL_MAX_NUM = 16;
public:
Servo();
int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
void detach();
void write(int degrees); // set angle
void move(const int degrees); // attach the servo, then move to value
int read(); // returns current pulse width as an angle between 0 and 180 degrees
private:
static int channel_next_free;
int channel;
int pin;
int degrees;
};
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