d:/PlatformIO/RoboidControl/ServoMotor.h

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#pragma once
 
#include "ControlledMotor.h"
 
namespace Passer {
namespace RoboidContol {
 
class ServoMotor : public Thing {
public:
  ServoMotor();
 
  float minAngle = -90.0F;
  float maxAngle = 90.0F;
 
  enum ControlMode { Position, Velocity };
  ControlMode controlMode = ControlMode::Position;
 
  virtual void SetTargetAngle(float angle);
  virtual float GetTargetAngle();
 
  virtual void SetMaximumVelocity(float maxVelocity);
 
  virtual void SetTargetVelocity(float velocity);
  virtual float GetTargetVelocity();
 
  virtual void Update(float currentTimeMs);
 
protected:
  bool hasTargetAngle = false;
  float targetAngle = 0.0F;
 
  float maxVelocity = 0.0F;
 
  float targetVelocity = 0.0F;
  float limitedTargetAngle = 0.0F;
 
  float lastUpdateTimeMs = 0.0F;
 
  virtual void SetAngle(float angle) = 0;
};
 
} // namespace RoboidContol
} // namespace Passer
using namespace Passer::RoboidContol;