ServoChannelConfig.h

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/*
 * Copyright (c) 2024 REV Robotics
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 * 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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#pragma once
 
#include "rev/ServoChannel.h"
#include "rev/config/BaseConfig.h"
 
namespace rev::servohub {
 
class ServoChannelConfig : public BaseConfig {
public:
    explicit ServoChannelConfig(ServoChannel::ChannelId channelId);
    ~ServoChannelConfig() override = default;
 
    ServoChannelConfig(const ServoChannelConfig&) = delete;
    ServoChannelConfig& operator=(const ServoChannelConfig&) = delete;
    ServoChannelConfig(ServoChannelConfig&&) noexcept = delete;
    ServoChannelConfig& operator=(ServoChannelConfig&&) noexcept = delete;
 
    ServoChannelConfig& Apply(ServoChannelConfig& config);
 
    ServoChannelConfig& PulseRange(uint32_t minPulse_us,
                                   uint32_t centerPulse_us,
                                   uint32_t maxPulse_us);
 
    struct PulseRange_t {
        uint32_t minPulse_us;
        uint32_t centerPulse_us;
        uint32_t maxPulse_us;
    };
 
    ServoChannelConfig& PulseRange(const PulseRange_t& pulseRange_us);
 
    enum class BehaviorWhenDisabled {
        kDoNotSupplyPower = 0,
        kSupplyPower = 1,
    };
    ServoChannelConfig& DisableBehavior(BehaviorWhenDisabled behavior);
 
private:
    ServoChannel::ChannelId m_channelId;
};
 
}  // namespace rev::servohub