BrickUp-Docker-API-Service/libs/BuilderLibrary/libraries/thirdparty/FR_DCBServo/FR_DCBServo.h

#ifndef FR_DCBServo_h
#define FR_DCBServo_h

#include <inttypes.h>


// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__)  || defined(__AVR_ATmega2560__)
#define _useTimer5
#define _useTimer1 
#define _useTimer3
#define _useTimer4 
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;

#elif defined(__AVR_ATmega32U4__)  
#define _useTimer3
#define _useTimer1 
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;

#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;

#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;

#else  // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;                  
#endif

#define FR_DCBServo_VERSION           2      // software version of this library

#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 

#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer 
#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)

#define INVALID_SERVO         255     // flag indicating an invalid servo index

#define CURRENT_SEQUENCE_STOP   255    // used to indicate the current sequence is not used and sequence should stop


typedef struct  {
  uint8_t nbr        :6 ;             // a pin number from 0 to 63
  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false 
} ServoPin_t   ;  

typedef struct {
  ServoPin_t Pin;
  unsigned int ticks;
	unsigned int target;			// Extension for slowmove
	uint8_t speed;					// Extension for slowmove
} servo_t;

typedef struct {
  uint8_t position;
  uint8_t speed;
} servoSequencePoint;

class FR_DCBServo
{
public:
  FR_DCBServo();
  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
  void detach();
  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
  void write(int value, uint8_t speed); // Move to given position at reduced speed.
          // speed=0 is identical to write, speed=1 slowest and speed=255 fastest.
          // On the RC-Servos tested, speeds differences above 127 can't be noticed,
          // because of the mechanical limits of the servo.
  void write(int value, uint8_t speed, bool wait); // wait parameter causes call to block until move completes
  void writeMicroseconds(int value); // Write pulse width in microseconds 
  void slowmove(int value, uint8_t speed);
  void stop(); // stop the servo where it is
  
  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
  bool attached();                   // return true if this servo is attached, otherwise false 

  uint8_t sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions, bool loop, uint8_t startPos);
  uint8_t sequencePlay(servoSequencePoint sequenceIn[], uint8_t numPositions); // play a looping sequence starting at position 0
  void sequenceStop(); // stop movement
private:
   uint8_t servoIndex;               // index into the channel data for this servo
   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH    
   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
   servoSequencePoint * curSequence; // for sequences
   uint8_t curSeqPosition; // for sequences

};

#endif