JMotorDriverAvrServo.h

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#ifndef J_MOTOR_DRIVER_AVR_SERVO_H
#define J_MOTOR_DRIVER_AVR_SERVO_H
#include "JMotorDriverServo.h"
#include <Arduino.h>
#include <Servo.h>
class JMotorDriverAvrServo : public JMotorDriverServo {
private:
    bool enabled = false;
    byte servoPin;
    Servo motorServo;
 
public:
    JMotorDriverAvrServo(byte _servoPin, int _minServoValue = 544, int _maxServoValue = 2400, bool _constrainRange = true)
    {
        minServoValue = _minServoValue;
        maxServoValue = _maxServoValue;
        enabled = false;
        servoPin = _servoPin;
        constrainRange = _constrainRange;
    }
    bool set(float _val)
    {
        float val;
        if (constrainRange)
            val = constrain(_val, -1.0, 1.0);
        else
            val = _val;
        if (enabled) {
            if (!motorServo.attached()) {
                motorServo.attach(servoPin);
            }
            setMicroseconds = (maxServoValue + minServoValue) / 2 + (maxServoValue - minServoValue) * val / 2;
            motorServo.writeMicroseconds(setMicroseconds);
        }
        return abs(_val) < 1.0;
    }
    bool setEnable(bool _enable)
    {
        if (_enable) {
            if (!enabled) {
                // actually enable
                enabled = true;
                return true;
            }
        } else { // disable
            if (enabled) {
                // actually disable
                motorServo.detach();
                enabled = false;
                return true;
            }
        }
        return false;
    }
    bool getEnable()
    {
        return enabled;
    }
    float getMaxRange()
    {
        return 1.0;
    }
    float getMinRange()
    {
        return -1.0;
    }
};
#endif