RBCXStupidServo.h

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#pragma once
 
#include <mutex>
#include <stdint.h>
 
#include "rbcx.pb.h"
 
namespace rb {
 
class Manager;
 
class StupidServo {
    friend class Manager;
 
public:
    uint8_t id() const { return m_id; }
 
    void setPosition(float positionFraction);
 
    float position() const { return m_lastPosition; }
 
    void disable();
 
private:
    StupidServo(uint8_t id);
    ~StupidServo() {}
    StupidServo(const StupidServo&) = delete;
 
    void sendServoMsg(float position);
 
    std::mutex m_mutex;
    float m_lastPosition;
    uint8_t m_id;
};
 
};