spaceapps/ServoController.h at main · AngusJull/spaceapps · GitHub

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#pragma once

#include <Servo.h>

class ServoController {
private:
  static const int MOVE_INCR = 2;
  static const int MOVE_DELAY = 50;

  const int pwm_pin;
  const int default_pos;

  int position;
  int max_pos;
  int min_pos;
  Servo servo;

public:
  ServoController(int pwm_pin, int default_pos);
  ServoController(int pwm_pin, int default_pos, int min_pos, int max_pos);

  void setup();
  void go_home();
  void set_position(int new_position);
  void change_position(int change);
  bool at_limit();
  int get_position();
};

// Two servos stacked on top of eachother to provide 360 degrees of rotation
class StackedServos {
private:
  ServoController duplicated_servo;

  int position;
  int default_rotation;

public:
  StackedServos(int duplicated_pin, int default_pos);

  void setup();
  void go_home();
  void set_position(int new_position);
  void change_position(int change);
  int get_position();
};