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_t channel);
    Servo(uint8_t moduleNumber, uint32_t 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; };
    
    void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
    void UpdateTable();
    void StartLiveWindowMode();
    void StopLiveWindowMode();
    std::string GetSmartDashboardType();
    void InitTable(ITable *subTable);
    ITable * GetTable();
    
    ITable *m_table;

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

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

#endif