Servo.h

#pragma once
 
#include <frc/PWM.h>
#include <frc/SpeedController.h>
 
namespace studica {
 class Servo;
}
 
class studica::Servo : public frc::PWM {
 public:
 
 explicit Servo(int channel);
 Servo(Servo&&) = default;
 Servo& operator=(Servo&&) = default;
 
 void Set(double value);
 void SetOffline();
 double Get() const;
 void SetAngle(double angle);
 double GetAngle() const;
 double GetMaxAngle() const;
 double GetMinAngle() const;
 
 void InitSendable(frc::SendableBuilder& builder) override;
 
 private:
 double GetServoAngleRange() const;
 
 static constexpr double kMaxServoAngle = 300.0;
 static constexpr double kMinServoAngle = 0.0;
 
 static constexpr double kDefaultMaxServoPWM = 2.5;
 static constexpr double kDefaultMinServoPWM = 0.5;
};