Servo.h

#ifndef _ServoClass_H
#define _ServoClass_H

#include <time.h>

class EZB;

class ServoClass{

public:
  enum ServoPortEnum{
    D0 = 0,
    D1 = 1,
    D2 = 2,
    D3 = 3,
    D4 = 4,
    D5 = 5,
    D6 = 6,
    D7 = 7,
    D8 = 8,
    D9 = 9,
    D10 = 10,
    D11 = 11,
    D12 = 12,
    D13 = 13,
    D14 = 14,
    D15 = 15,
    D16 = 16,
    D17 = 17,
    D18 = 18,
    D19 = 19,
    NA = 20,
  };

  typedef struct{
    unsigned long last_move_time;
    char curr_pos;
    char curr_speed;
    bool isreleased;
  }servo_info;

  static const unsigned char SERVO_CENTER = 70;
  static const unsigned char SERVO_MAX = 140;
  static const unsigned char SERVO_MIN = 1;
  static const unsigned char SERVO_OFF = 0;
  static const unsigned char SERVO_SPEED_FASTEST = 0;
  static const unsigned char SERVO_SPEED_SLOWEST = 10;

  ServoClass(EZB* ezb);
  double GetNumberOfSecondsSinceLastMove(ServoPortEnum servoPort);
  int GetServoPosition(ServoPortEnum servoPort);
  int GetServoSpeed(ServoPortEnum servoPort);
  bool IsServoReleased(ServoPortEnum servoPort);
  void SetServoPosition(ServoPortEnum servoPort, int position, int speed=-1);
  void SetServoPositionScalar(ServoPortEnum servoPort, int servoMin, int servoMax, int clientWidthMin, int clientWidthMax, int clientPosition, bool invert);
  void SetServoPositionScalar(ServoPortEnum servoPort, int servoMin, int servoMax, float clientWidthMin, float clientWidthMax, float clientPosition, bool invert);
  void SetServoSpeed(ServoPortEnum servoPort, int speed);
  void ReleaseServo(ServoPortEnum servoPort);
  void ReleaseAllServos();

private:
  EZB* m_ezb;
  servo_info m_servos[NA];
};

#endif