ServoDispatch.h

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#ifndef ServoDispatch_h
#define ServoDispatch_h
 
#include "ReelTwo.h"
#include "core/SetupEvent.h"
#include "core/AnimatedEvent.h"
#include "ServoEasing.h"
 
//#define SERVO_DEBUG
 
struct ServoSettings {
    uint16_t pinNum;
    uint16_t startPulse;
    uint16_t endPulse;
    uint32_t group;
};
 
 
 
class ServoDispatch
{
public:
    virtual uint16_t getNumServos() = 0;
    virtual uint8_t getPin(uint16_t num) = 0;
    virtual uint16_t getStart(uint16_t num) = 0;
    virtual uint16_t getEnd(uint16_t num) = 0;
    virtual uint16_t getMinimum(uint16_t num) = 0;
    virtual uint16_t getMaximum(uint16_t num) = 0;
    virtual uint16_t getNeutral(uint16_t num) = 0;
    virtual uint32_t getGroup(uint16_t num) = 0;
    virtual uint16_t currentPos(uint16_t num) = 0;
    virtual uint16_t scaleToPos(uint16_t num, float scale) = 0;
    virtual bool isActive(uint16_t num) = 0;
    virtual void disable(uint16_t num) = 0;
    virtual void setPin(uint16_t num, uint16_t pin)
    {
        setServo(num, pin, getStart(num), getEnd(num), getNeutral(num), getGroup(num));
    }
    virtual void setNeutral(uint16_t num, uint16_t neutralPulse)
    {
        setServo(num, getPin(num), getStart(num), getEnd(num), neutralPulse, getGroup(num));
    }
    virtual void setStart(uint16_t num, uint16_t startPulse)
    {
        setServo(num, getPin(num), startPulse, getEnd(num), getNeutral(num), getGroup(num));
    }
    virtual void setEnd(uint16_t num, uint16_t endPulse)
    {
        setServo(num, getPin(num), getStart(num), endPulse, getNeutral(num), getGroup(num));
    }
    virtual void setGroup(uint16_t num, uint32_t group)
    {
        setServo(num, getPin(num), getStart(num), getEnd(num), getNeutral(num), group);
    }
    virtual void setServo(uint16_t num, uint8_t pin, uint16_t startPulse, uint16_t endPulse, uint16_t neutralPulse, uint32_t group) = 0;
    virtual void setPWM(uint16_t num, uint16_t targetLength) = 0;
 
    // Stop all servo movement
    virtual void stop() = 0;
 
    //
    // Range functions
    //
    // Position is 0.0 - 1.0 as a scale for startPulse - endPulse
    //
 
    void moveTo(uint16_t num, uint32_t startDelay, uint32_t moveTime, float pos)
    {
        _moveServoToPulse(num, startDelay, moveTime, currentPos(num), scaleToPos(num, pos));
    }
 
    void moveTo(uint16_t num, uint32_t moveTime, float pos)
    {
        _moveServoToPulse(num, 0, moveTime, currentPos(num), scaleToPos(num, pos));
    }
 
    void moveTo(uint16_t num, float pos)
    {
        _moveServoToPulse(num, 0, 0, currentPos(num), scaleToPos(num, pos));
    }
 
    void moveTo(uint16_t num, uint32_t startDelay, uint32_t moveTime, float startPos, float pos)
    {
        _moveServoToPulse(num, startDelay, moveTime, scaleToPos(num, startPos), scaleToPos(num, pos));
    }
 
    void moveServosTo(uint32_t servoGroupMask, float pos)
    {
        _moveServosTo(servoGroupMask, 0, 0, 0, pos);
    }
 
    void moveServosTo(uint32_t servoGroupMask, uint32_t moveTime, float pos)
    {
        _moveServosTo(servoGroupMask, 0, moveTime, moveTime, pos);
    }
 
    void moveServosTo(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, float pos)
    {
        _moveServosTo(servoGroupMask, startDelay, moveTime, moveTime, pos);
    }
 
    void moveServosTo(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float pos)
    {
        _moveServosTo(servoGroupMask, startDelay, moveTimeMin, moveTimeMax, pos);
    }
 
    void moveServoSetTo(uint32_t servoGroupMask, uint32_t servoSetMask, float onPos, float offPos, float (*onEasingMethod)(float) = NULL, float (*offEasingMethod)(float) = NULL)
    {
        _moveServoSetTo(servoGroupMask, servoSetMask, 0, 0, 0, onPos, offPos, onEasingMethod, offEasingMethod);
    }
 
    void moveServoSetTo(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, float onPos, float offPos, float (*onEasingMethod)(float) = NULL, float (*offEasingMethod)(float) = NULL)
    {
        _moveServoSetTo(servoGroupMask, servoSetMask, 0, moveTime, moveTime, onPos, offPos, onEasingMethod, offEasingMethod);
    }
 
    void moveServoSetTo(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, float onPos, float offPos, float (*onEasingMethod)(float) = NULL, float (*offEasingMethod)(float) = NULL)
    {
        _moveServoSetTo(servoGroupMask, servoSetMask, startDelay, moveTime, moveTime, onPos, offPos, onEasingMethod, offEasingMethod);
    }
 
    void moveServoSetTo(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float onPos, float offPos, float (*onEasingMethod)(float) = NULL, float (*offEasingMethod)(float) = NULL)
    {
        _moveServoSetTo(servoGroupMask, servoSetMask, startDelay, moveTimeMin, moveTimeMax, onPos, offPos, onEasingMethod, offEasingMethod);
    }
 
    //
    // Pulse value functions
    //
 
    void moveToPulse(uint16_t num, uint32_t startDelay, uint32_t moveTime, uint16_t pos)
    {
        _moveServoToPulse(num, startDelay, moveTime, currentPos(num), pos);
    }
 
    void moveToPulse(uint16_t num, uint32_t moveTime, uint16_t pos)
    {
        _moveServoToPulse(num, 0, moveTime, currentPos(num), pos);
    }
 
    void moveToPulse(uint16_t num, uint16_t pos)
    {
        _moveServoToPulse(num, 0, 0, currentPos(num), pos);
    }
 
    void moveToPulse(uint16_t num, uint32_t startDelay, uint32_t moveTime, uint16_t startPos, uint16_t pos)
    {
        _moveServoToPulse(num, startDelay, moveTime, startPos, pos);
    }
 
    void moveByPulse(uint16_t num, uint32_t moveTime, int16_t pos)
    {
        uint16_t curpos = currentPos(num);
        _moveServoToPulse(num, 0, moveTime, curpos, curpos + pos);
    }
 
    void moveByPulse(uint16_t num, int16_t pos)
    {
        uint16_t curpos = currentPos(num);
        _moveServoToPulse(num, 0, 0, curpos, curpos + pos);
    }
 
    void moveByPulse(uint16_t num, uint32_t startDelay, uint32_t moveTime, int16_t pos)
    {
        uint16_t curpos = currentPos(num);
        _moveServoToPulse(num, startDelay, moveTime, curpos, curpos + pos);
    }
 
 
    void moveServosToPulse(uint32_t servoGroupMask, uint16_t pos)
    {
        _moveServosToPulse(servoGroupMask, 0, 0, 0, pos);
    }
 
    void moveServosToPulse(uint32_t servoGroupMask, uint32_t moveTime, uint16_t pos)
    {
        _moveServosToPulse(servoGroupMask, 0, moveTime, moveTime, pos);
    }
 
    void moveServosToPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, uint16_t pos)
    {
        _moveServosToPulse(servoGroupMask, startDelay, moveTime, moveTime, pos);
    }
 
    void moveServosToPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t pos)
    {
        _moveServosToPulse(servoGroupMask, startDelay, moveTimeMin, moveTimeMax, pos);
    }
 
    void moveServosByPulse(uint32_t servoGroupMask, uint32_t moveTime, uint16_t pos)
    {
        _moveServosByPulse(servoGroupMask, 0, moveTime, moveTime, pos);
    }
 
    void moveServosByPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTime, int16_t pos)
    {
        _moveServosByPulse(servoGroupMask, startDelay, moveTime, moveTime, pos);
    }
 
    void moveServosByPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t pos)
    {
        _moveServosByPulse(servoGroupMask, startDelay, moveTimeMin, moveTimeMax, pos);
    }
 
 
    void moveServoSetToPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint16_t onPos, uint16_t offPos)
    {
        _moveServoSetToPulse(servoGroupMask, servoSetMask, 0, 0, 0, onPos, offPos);
    }
 
    void moveServoSetToPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, uint16_t onPos, uint16_t offPos)
    {
        _moveServoSetToPulse(servoGroupMask, servoSetMask, 0, moveTime, moveTime, onPos, offPos);
    }
 
    void moveServoSetToPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, uint16_t onPos, uint16_t offPos)
    {
        _moveServoSetToPulse(servoGroupMask, servoSetMask, startDelay, moveTime, moveTime, onPos, offPos);
    }
 
    void moveServoSetToPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t onPos, int16_t offPos)
    {
        _moveServoSetToPulse(servoGroupMask, servoSetMask, startDelay, moveTimeMin, moveTimeMax, onPos, offPos);
    }
 
    void moveServoSetByPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t moveTime, int16_t onPos, int16_t offPos)
    {
        _moveServoSetByPulse(servoGroupMask, servoSetMask, 0, moveTime, moveTime, onPos, offPos);
    }
 
    void moveServoSetByPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTime, int16_t onPos, int16_t offPos)
    {
        _moveServoSetByPulse(servoGroupMask, servoSetMask, startDelay, moveTime, moveTime, onPos, offPos);
    }
 
    void moveServoSetByPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t onPos, int16_t offPos)
    {
        _moveServoSetByPulse(servoGroupMask, servoSetMask, startDelay, moveTimeMin, moveTimeMax, onPos, offPos);
    }
 
 
    void setServoEasingMethod(uint16_t num, float (*easingMethod)(float completion))
    {
        _setServoEasingMethod(num, easingMethod);
    }
 
    void setServosEasingMethod(uint32_t servoGroupMask, float (*easingMethod)(float completion))
    {
        _setServosEasingMethod(servoGroupMask, easingMethod);
    }
 
    void setEasingMethod(float (*easingMethod)(float completion))
    {
        _setEasingMethod(easingMethod);
    }
 
protected:
    virtual void _moveServoToPulse(uint16_t num, uint32_t startDelay, uint32_t moveTime, uint16_t startPos, uint16_t pos) = 0;
    virtual void _moveServosToPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, uint16_t pos) = 0;
    virtual void _moveServosByPulse(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t pos) = 0;
    virtual void _moveServoSetToPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, uint16_t onPos, uint16_t offPos) = 0;
    virtual void _moveServoSetByPulse(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, int16_t onPos, int16_t offPos) = 0;
    virtual void _moveServosTo(uint32_t servoGroupMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float pos) = 0;
    virtual void _moveServoSetTo(uint32_t servoGroupMask, uint32_t servoSetMask, uint32_t startDelay, uint32_t moveTimeMin, uint32_t moveTimeMax, float onPos, float offPos, float (*onEasingMethod)(float), float (*offEasingMethod)(float)) = 0;
    virtual void _setServoEasingMethod(uint16_t num, float (*easingMethod)(float completion)) = 0;
    virtual void _setServosEasingMethod(uint32_t servoGroupMask, float (*easingMethod)(float completion)) = 0;
    virtual void _setEasingMethod(float (*easingMethod)(float completion)) = 0;
};
 
#endif