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#ifndef SERVO_H
#define SERVO_H
#include "Energia.h"
#include <inttypes.h>
// Hardware limitations information
#define MIN_SERVO_PULSE_WIDTH 544
#define MAX_SERVO_PULSE_WIDTH 2400
#define DEFAULT_SERVO_PULSE_WIDTH 1500
#define REFRESH_INTERVAL 20000
// Aliases for timer config and loading
#define SERVO_TIMER TIMER2_BASE
#define SERVO_TIME_CFG TIMER_CFG_PERIODIC
#define SERVO_TIMER_TRIGGER TIMER_TIMA_TIMEOUT
#define SERVO_TIMER_INTERRUPT INT_TIMER2A
#define SERVO_TIMER_A TIMER_A
#define SERVO_TIMER_PERIPH SYSCTL_PERIPH_TIMER2
// Other defines
#define SERVOS_PER_TIMER 8
#define INVALID_SERVO 255
#define MAX_SERVOS 8
typedef struct
{
unsigned int pin_number;
unsigned int pulse_width;
bool enabled;
} servo_t;
class Servo
{
private:
unsigned int index;
int min;
int max;
public:
Servo();
unsigned int attach(unsigned int pin, int min = MIN_SERVO_PULSE_WIDTH, int max = MAX_SERVO_PULSE_WIDTH);
void detach();
void writeMicroseconds(int value);
int readMicroseconds();
void write(int value);
int read();
bool attached();
};
extern "C" void ServoIntHandler(void);
#endif // SERVO_H
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