pimoroni-pico/drivers/servo/calibration.hpp

121 wiersze
3.8 KiB
C++

#pragma once
#include "pico/stdlib.h"
namespace servo {
enum CalibrationType {
ANGULAR = 0,
LINEAR,
CONTINUOUS
};
class Calibration {
//--------------------------------------------------
// Constants
//--------------------------------------------------
public:
static constexpr float DEFAULT_MIN_PULSE = 500.0f; // in microseconds
static constexpr float DEFAULT_MID_PULSE = 1500.0f; // in microseconds
static constexpr float DEFAULT_MAX_PULSE = 2500.0f; // in microseconds
static const uint MAX_CALIBRATION_PAIRS = 32;
private:
static constexpr float LOWER_HARD_LIMIT = 400.0f; // The minimum microsecond pulse to send
static constexpr float UPPER_HARD_LIMIT = 2600.0f; // The maximum microsecond pulse to send
//--------------------------------------------------
// Substructures
//--------------------------------------------------
public:
struct Pair {
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
Pair();
Pair(float pulse, float value);
//--------------------------------------------------
// Variables
//--------------------------------------------------
float pulse;
float value;
};
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
public:
Calibration();
Calibration(CalibrationType default_type);
Calibration(const Calibration &other);
virtual ~Calibration();
//--------------------------------------------------
// Operators
//--------------------------------------------------
public:
Calibration &operator=(const Calibration &other);
Pair &operator[](uint8_t index);
const Pair &operator[](uint8_t index) const;
//--------------------------------------------------
// Methods
//--------------------------------------------------
public:
void apply_blank_pairs(uint size);
void apply_two_pairs(float min_pulse, float max_pulse, float min_value, float max_value);
void apply_three_pairs(float min_pulse, float mid_pulse, float max_pulse, float min_value, float mid_value, float max_value);
void apply_uniform_pairs(uint size, float min_pulse, float max_pulse, float min_value, float max_value);
void apply_default_pairs(CalibrationType default_type);
uint size() const;
Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
const Pair &pair(uint8_t index) const; // Ensure the pairs are assigned in ascending value order
float pulse(uint8_t index) const;
void pulse(uint8_t index, float pulse);
float value(uint8_t index) const;
void value(uint8_t index, float value);
Pair &first();
const Pair &first() const;
float first_pulse() const;
void first_pulse(float pulse);
float first_value() const;
void first_value(float value);
Pair &last();
const Pair &last() const;
float last_pulse() const;
void last_pulse(float pulse);
float last_value() const;
void last_value(float value);
bool has_lower_limit() const;
bool has_upper_limit() const;
void limit_to_calibration(bool lower, bool upper);
bool value_to_pulse(float value, float &pulse_out, float &value_out) const;
bool pulse_to_value(float pulse, float &value_out, float &pulse_out) const;
static float map_float(float in, float in_min, float in_max, float out_min, float out_max);
//--------------------------------------------------
// Variables
//--------------------------------------------------
private:
Pair calibration[MAX_CALIBRATION_PAIRS];
uint calibration_size;
bool limit_lower;
bool limit_upper;
};
}