ServoControl.h File Reference

Public API for Doly servo control. More...

#include <stdint.h>
#include "ServoEvent.h"

Go to the source code of this file.

Namespaces
namespace	ServoControl

Functions
int8_t	ServoControl::init ()
	Initialize the servo subsystem.
int8_t	ServoControl::setServo (uint16_t id, ServoId channel, float angle, uint8_t speed, bool invert)
	Set a servo target angle.
int8_t	ServoControl::abort (ServoId channel)
	Abort an ongoing servo action.
int8_t	ServoControl::release (ServoId channel)
	Release servo hold (disable holding torque) for a channel.
int8_t	ServoControl::dispose ()
	Dispose/stop the servo subsystem and release resources.
float	ServoControl::getVersion ()
	Get current library version.

Detailed Description

Public API for Doly servo control.

This API controls IO port servo channels. Notifications for completion, abort, and error can be observed via ServoEvent callbacks.

Design notes:

• Singleton-style control (namespace API; no instances)
• init() must be called before setServo()
• setServo() is typically asynchronous; completion/abort/error are reported via ServoEvent