/*
  ServoTimer2.h - Interrupt driven Servo library for Arduino using
/*
  This library uses Timer2 to drive up to 8 servos using interrupts so no refresh activity is required from within the sketch.
  The usage and method naming is similar to the Arduino software servo library http://www.arduino.cc/playground/ComponentLib/Servo
  except that pulse widths are in microseconds.


  A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
  The servo is pulsed in the background to the value most recently written using the write() method

  Note that analogWrite of PWM on pins 3 and 11 is disabled when the first servo is attached

  The methods are:

   ServoTimer2 - Class for manipulating servo motors connected to Arduino pins.

   attach(pin )  - Attaches a servo motor to an i/o pin.
   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
    default min is 544, max is 2400

   write()     - Sets the servo pulse width in microseconds.

   read()	- Gets the last written servo pulse width in microseconds.

   attached()  - Returns true if there is a servo attached.

   detach()    - Stops an attached servos from pulsing its i/o pin.


The library takes about 824 bytes of program memory and 32+(1*servos) bytes of SRAM.
The pulse width timing is accurate to within 1%

 */

// ensure this library description is only included once
#ifndef ServoTimer2_h
#define ServoTimer2_h

#include <inttypes.h>
typedef uint8_t boolean;
typedef uint8_t byte;

#define MIN_PULSE_WIDTH	 750	  // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH	2250	  // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH  1500	  // default pulse width when servo is attached
#define FRAME_SYNC_PERIOD   20000	  // total frame duration in microseconds
#define NBR_CHANNELS 8			 // the maximum number of channels, don't change this

typedef struct  {
	uint8_t nbr	  :5 ;  // a pin number from 0 to 31
	uint8_t isActive   :1 ;  // false if this channel not enabled, pin only pulsed if true
   } ServoPin_t   ;

typedef struct {
  ServoPin_t Pin;
  byte counter;
  byte remainder;
}  servo_t;

class ServoTimer2
{
  public:
	// constructor:
	ServoTimer2();

	uint8_t attach(int);     // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
					 // the attached servo is pulsed with the current pulse width value, (see the write method)
	uint8_t attach(int, int, int); // as above but also sets min and max values for writes.
    void detach();
    void write(int);	   // store the pulse width in microseconds (between MIN_PULSE_WIDTH and MAX_PULSE_WIDTH)for this channel
    int read(); 			 // returns current pulse width in microseconds for this servo
	boolean attached();	// return true if this servo is attached
 private:
	 uint8_t chanIndex;	// index into the channel data for this servo

};


// the following ServoArrayT2 class is not implemented in the first version of this library
class ServoArrayT2
{
  public:
	// constructor:
	ServoArrayT2();

	uint8_t attach(int);     // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
					 // channels are assigned consecutively starting from 1
					 // the attached servo is pulsed with the current pulse width value, (see the write method)
    void detach(int);	  // detach the servo on the given channel
	void write(int,int);     // store the pulse width in microseconds (between MIN_PULSE_WIDTH and MAX_PULSE_WIDTH)for the given channel
    int read(int); 			 // returns current pulse width in microseconds for the given channel
	boolean attached(int);   // return true if the servo on the given channel is attached
 private:
	 uint8_t chanIndex;	// index into the channel data for this servo

};

#endif