/**********************************************************************
  Copyright (C) 2013 SARVESH KULKARNI <sarvesh.kulkarni@villanova.edu>
                     Associate Professor, ECE Department
                     Villanova University, PA, USA.

  LEGAL NOTICE:
  This library is free software: you can redistribute it and/or modify it
  under the terms of the GNU General Public License as published by the
  Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  This library is distributed in the hope that it will be useful, but
  WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  See the GNU General Public License for more details.

  You should have received a copy of the GNU General Public License along
  with this program. If not, see <http://www.gnu.org/licenses/>.

  -------------------------------------------------------------------------
  Header file for the library of routines for controlling analog and
  digital servomotors using Adafruit's PCA9685 16-channel PWM breakout board.
  You may use *any* PCA9685 based as long as the correct I2C device address
  is used.
  Version 0.3, Released August 2013.

  You will need the C++ library for PCA9685; get the following file
     pca9685.o
	OR
     Compile the source files pca9685_pwm.h & pca9685_pwm.cc to pca9685.o
	
 --------------------------------------------------------------------------
  Class for controlling Servomotors

  Typical Wire Connections on Servo motors: (please cross-check!)
	(+V)  : Red
	(GND) : Black or Brown
	(PWM) : Orange or White

 *********************************************************************/

#ifndef _Servo

  #define _Servo

  #include <stdint.h>
  #include "pca9685_pwm.h"

  // ------ Class Specific Constants -------------------------------

 #define DEFAULT_FREQ	 50	// Most servos need 50 Hz updates
 #define MAXFREQ	 60	// Restrict update freq for servos


  // ------ Class Specific Error Codes --------------------

  #define FREQ_ILLEGAL     -20 // Illegal frequency, or any other generic
			       //   error in reading the set frequency
  #define POSITIONING_ERR  -21 // Could not position servo shaft
  #define SLEEP_ERR	   -22 // Could not turn off the pwm channel

  class Servo {

	public:
		Servo(float range, float pcycle, float minpulse, float maxpulse,
			PWM_Board& pwm, unsigned int ch_num, float freq = DEFAULT_FREQ);
		~Servo(){};

		int	setPosition(float angle, PWM_Board& pwm);
		float	getPosition(void);
		int	center(PWM_Board& pwm);	//centers the servo shaft between its left
						// extreme and right extreme excursions
		int	sleep(PWM_Board& pwm);	// turns off pwm output on channel

	private:
		float		s_range;			   // full angular range (deg)
		float		s_angle;			   // current angle of the shaft (deg)
		float		s_pcycle, s_minpulse, s_maxpulse;  // pulse & cycle widths (usecs)
		unsigned int	pwm_channel;			   // PCA9685's channel driving this servo

  };

#endif