Servo.hpp

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#pragma once
 
#include "hal/PortRegistry.hpp"
 
namespace libstp::hal::servo
{
    class Servo
    {
        float storedPosition = 0.0f;
 
#ifdef SAFETY_CHECKS_ENABLED
        static inline detail::PortRegistry registry_{};
 
        static void registerServoPort(int port);
 
        static void unregisterServoPort(const int port);
#endif
 
    public:
        int port;

        explicit Servo(int port);
 
        ~Servo();

        void setPosition(float position);
        float getPosition() const;
        void setSmoothPosition(float targetDeg, float speedDegPerSec, int easing);

        void enable() const;
        void disable() const;

        static void fullyDisableAll();
    };
}