twr_servo.h

#ifndef _TWR_SERVO_H
#define _TWR_SERVO_H
 
#include <twr_pwm.h>
 
 
#define TWR_SERVO_NO_ANGLE      255
#define TWR_SERVO_UNKNOWN_ANGLE 250
#define TWR_SERVO_DEFAULT_MIN   544
#define TWR_SERVO_DEFAULT_MAX   2400
 
 
typedef struct
{
    twr_pwm_channel_t _channel;
    uint16_t _min;
    uint16_t _max;
    uint8_t _angle;
 
} twr_servo_t;
 
 
 
void twr_servo_init(twr_servo_t *self, twr_pwm_channel_t channel);
 
 
void twr_servo_set_angle(twr_servo_t *self, uint8_t angle);
 
 
uint8_t twr_servo_get_angle(twr_servo_t *self);
 
 
void twr_servo_set_pulse_limits(twr_servo_t *self, uint16_t min_us, uint16_t max_us);
 
 
void twr_servo_set_microseconds(twr_servo_t *self, uint16_t us);
 
 
#endif // _TWR_SERVO_H