Servo.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef SERVO_H
#define SERVO_H

#include "SafePWM.h"
#include "SpeedController.h"

class Servo : public SafePWM
{
public:
        explicit Servo(UINT32 channel);
        Servo(UINT8 moduleNumber, UINT32 channel);
        virtual ~Servo();
        void Set(float value);
        void SetOffline();
        float Get();
        void SetAngle(float angle);
        float GetAngle();
        static float GetMaxAngle() { return kMaxServoAngle; };
        static float GetMinAngle() { return kMinServoAngle; };

private:
        void InitServo();
        float GetServoAngleRange() {return kMaxServoAngle - kMinServoAngle;}

        static const float kMaxServoAngle = 170.0;
        static const float kMinServoAngle = 0.0;
};

#endif