Servo control

main/include/LoopManager.h

@@ -0,0 +1,21 @@
+//
+// Created by Johnathon Slightham on 2025-07-05.
+//
+
+#ifndef LOOPMANAGER_H
+#define LOOPMANAGER_H
+
+#include "control/IActuator.h"
+#include "control/ActuatorFactory.h"
+
+class LoopManager {
+public:
+    [[noreturn]] static void control_loop();
+
+private:
+
+};
+
+
+
+#endif //LOOPMANAGER_H

main/include/control/ActuatorFactory.h

@@ -0,0 +1,18 @@
+//
+// Created by Johnathon Slightham on 2025-07-15.
+//
+
+#ifndef ACTUATORFACTORY_H
+#define ACTUATORFACTORY_H
+
+#include "IActuator.h"
+#include "flatbuffers_generated/RobotModule_generated.h"
+
+class ActuatorFactory {
+public:
+    static std::unique_ptr<IActuator> create_actuator(ModuleType type);
+};
+
+
+
+#endif //ACTUATORFACTORY_H

main/include/control/IActuator.h

@@ -0,0 +1,15 @@
+//
+// Created by Johnathon Slightham on 2025-07-15.
+//
+
+#ifndef IACTUATOR_H
+#define IACTUATOR_H
+#include <cstdint>
+
+class IActuator {
+public:
+    virtual ~IActuator() {}
+    virtual void actuate(uint8_t *cmd) = 0;
+};
+
+#endif //IACTUATOR_H

main/include/control/Servo1Actuator.h

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+//
+// Created by Johnathon Slightham on 2025-07-15.
+//
+
+// 180 deg servo
+
+#ifndef SERVO1ACTUATOR_H
+#define SERVO1ACTUATOR_H
+
+#include "IActuator.h"
+
+class Servo1Actuator final : public IActuator {
+public:
+    Servo1Actuator();
+    void actuate(uint8_t *cmd) override;
+};
+
+#endif //SERVO1ACTUATOR_H

main/include/util/number_utils.h

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+//
+// Created by Johnathon Slightham on 2025-07-15.
+//
+
+#ifndef INT_UTILS_H
+#define INT_UTILS_H
+
+#include <iostream>
+#include <type_traits>
+
+namespace util {
+    template<typename T>
+    T mapRange(T value, T inMin, T inMax, T outMin, T outMax) {
+        static_assert(std::is_arithmetic<T>::value, "Template parameter must be a numeric type");
+
+        if (inMin == inMax) {
+            return value;
+        }
+
+        return (value - inMin) * (outMax - outMin) / (inMax - inMin) + outMin;
+    }
+}
+
+#endif //INT_UTILS_H