io.mapsmessaging.devices.i2c.devices.drivers.pca9685.servos.Servo Maven / Gradle / Ivy

/*
 *      Copyright [ 2020 - 2023 ] [Matthew Buckton]
 *
 *      Licensed under the Apache License, Version 2.0 (the "License");
 *      you may not use this file except in compliance with the License.
 *      You may obtain a copy of the License at
 *
 *          http://www.apache.org/licenses/LICENSE-2.0
 *
 *      Unless required by applicable law or agreed to in writing, software
 *      distributed under the License is distributed on an "AS IS" BASIS,
 *      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 *      See the License for the specific language governing permissions and
 *      limitations under the License.
 */

package io.mapsmessaging.devices.i2c.devices.drivers.pca9685.servos;

import io.mapsmessaging.devices.i2c.devices.drivers.pca9685.Pca9685Device;

import java.io.IOException;

public class Servo extends PwmDevice {

  private float myPos;

  public Servo(Pca9685Device pwm, short servoId, AngleResponse response) throws IOException {
    super(pwm, servoId, response);
  }

  public float getPosition() {
    return myPos;
  }

  public void setPosition(float angle) throws IOException {
    myPos = myResponse.getResponse(angle);
    myPWMController.setPWM(myServoPort, (short) 1, (short) myPos);
  }
}