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isrcontroller.h
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isrcontroller.h
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/**
* @file isrcontroller.h
* @author Timarrr (tigrmango@gmail.com)
* @brief Interface with SAMD_ISR_Servos library
* @version 0.1
* @date 2023-03-31
*
* @copyright Copyright (c) 2023
*
*/
#ifndef ISRCONTROLLER_H
#define ISRCONTROLLER_H
#include "SAMD_ISR_Servo/SAMD_ISR_Servo.h"
#include "config.h"
#include "logger.h"
#include <Servo.h>
#include <Wire.h>
/**
* @brief Class responsible for interfacing with the ISR
*
*/
class ISRController {
public:
/**
* @brief Construct a new ISRController object
*
*/
ISRController();
/**
* @brief Set selected thruster power
*
* @param idx index of the thruster
* @see config::thrusters::thrusters
* @param power Power from -100 to 100 to set thruster to (other values are
* clamped to avoid breakage)
*/
void setThruster(int idx, int power);
private:
/**
* @brief Minimum (full backward) thrust in microseconds(?)
* @todo research and clarify this
*
*/
static constexpr int pulse_min[8] = {1000,1000,1000,1000,1000,1000,1000,1000};
/**
* @brief Medium (stop/neutral) thrust in microsesonds(?)
* @todo research and clarify this
*
*/
static constexpr int pulse_med[8] = {1500,1500,1500,1500,1500,1500,1500,1500};
/**
* @brief Maximum (full forward) thrust in microsesonds(?)
* @todo research and clarify this
*
*/
static constexpr int pulse_max[8] = {2000,2000,2000,2000,2000,2000,2000,2000};
/**
* @brief ISR pins
*
*/
int m_pins[8] = {0, 0, 0, 0, 0, 0, 0, 0};
/**
* @brief ISR servos
*
*/
int m_isrServos[8] = {0, 0, 0, 0, 0, 0, 0, 0};
};
#endif