ServoChannel.h

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/*
 * Copyright (c) 2024-2026 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
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 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
 
#include <stdint.h>
 
#include <cstddef>
 
#include "rev/REVLibError.h"
#include "rev/util/Signal.h"
 
namespace rev::servohub {
 
class ServoHubLowLevel;
 
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; }
 
    rev::util::Signal<int> GetPulseWidth() const;
 
    rev::util::Signal<bool> IsEnabled() const;
 
    rev::util::Signal<double> GetCurrent() const;
 
    REVLibError SetPulseWidth(int pulseWidth_us);
 
    REVLibError SetEnabled(bool enabled);
 
    REVLibError SetPowered(bool powered);
 
private:
    explicit ServoChannel(ChannelId channelId, ServoHubLowLevel* device);
 
    ChannelId m_channelId;
    ServoHubLowLevel* m_device{nullptr};
};
 
}  // namespace rev::servohub