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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
-
- 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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