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Js/servo max speed

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This commit is contained in:
Johnathon Slightham
2026-03-02 22:28:37 -05:00
committed by Johnathon Slightham
parent 404d18cc0c
commit 870e87b428
2 changed files with 64 additions and 16 deletions
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14
main/include/control/Servo1Actuator.h
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@@ -9,16 +9,28 @@
#include "IActuator.h"
#include "ISensor.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include <atomic>
#include <cstdint>
#define SERVO_MAX_SPEED_DEG_PER_SEC 180.0f
class Servo1Actuator final : public IActuator {
public:
Servo1Actuator();
~Servo1Actuator() override;
void actuate(std::uint8_t *cmd) override;
std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
private:
uint16_t m_target = 90;
static void servo_task(void *args);
static void write_pwm(float angle);
std::atomic<float> m_target{90.0f};
float m_current{90.0f};
std::atomic<bool> m_running{true};
TaskHandle_t m_servo_task{nullptr};
};
#endif //SERVO1ACTUATOR_H