ServoChannel.h

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/*
 * Copyright (c) 2024 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#pragma once
 
#include <stdint.h>
 
#include <cstddef>
 
#include "rev/REVLibError.h"
 
namespace rev::servohub {
 
class ServoChannel {
    friend class ServoHub;
 
public:
    ~ServoChannel();
 
    enum class ChannelId {
        kChannelId0 = 0,
        kChannelId1 = 1,
        kChannelId2 = 2,
        kChannelId3 = 3,
        kChannelId4 = 4,
        kChannelId5 = 5
    };
    static constexpr size_t kNumServoChannels{6u};
 
    ChannelId GetChannelId() const { return m_channelId; }
 
    int GetPulseWidth() const;
 
    bool IsEnabled() const;
 
    double GetCurrent() const;
 
    REVLibError SetPulseWidth(int pulseWidth_us);
 
    REVLibError SetEnabled(bool enabled);
 
    REVLibError SetPowered(bool powered);
 
private:
    explicit ServoChannel(ChannelId channelId, void* servoHubHandle);
 
    ChannelId m_channelId;
 
    // The type is void* because we don't want to expose c_ServoHub_handle to
    // the consumers of this header file
    void* m_servoHubHandle{nullptr};
};
 
}  // namespace rev::servohub