MausDroid/PCA9685Adapter.h at main · XxKorganxX/MausDroid · GitHub

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#ifndef PCA9685_ADAPTER_H
#define PCA9685_ADAPTER_H

#include <Arduino.h>
#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

extern bool g_pca9685MotorRampEnabled;

class PCA9685Adapter {
public:
  PCA9685Adapter();

  void setup(int sda, int scl, const uint8_t addr = 0x40, float pwmFrequency = 50);
  void updateMotor(int channel, int8_t speedInPercent);
  void stopMotorImmediate(int channel);
  int currentMotorSpeed(int channel) const;
  void updateServo(int channel, int16_t angle);

private:
  static const int kChannelCount = 16;
  static const int kMotorRampStep = 5;
  static const unsigned long kMotorRampIntervalMs = 20;

  Adafruit_PWMServoDriver* m_pwm = nullptr;
  TwoWire m_pwmWire = TwoWire(1);
  int16_t m_channels[kChannelCount];
  int16_t m_motorTargets[kChannelCount];
  unsigned long m_motorRampUpdateMs[kChannelCount];
  bool m_isReady = false;

  int16_t rampedMotorSpeed(int16_t current, int16_t target, int16_t maxStep) const;
  void writeMotorOutput(int channel, int16_t speedInPercent);
};

#endif