File servo.hpp

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// Copyright 2023 Google LLC
//
// 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.

#pragma once

#include "error.hpp"
#include "units.hpp"

namespace hal {
class servo
{
public:
  struct position_t
  {};

  struct range_error
  {
    hal::degrees min;
    hal::degrees max;
  };

  [[nodiscard]] result<position_t> position(hal::degrees p_position)
  {
    return driver_position(p_position);
  }

  virtual ~servo() = default;

private:
  virtual result<position_t> driver_position(hal::degrees p_position) = 0;
};
}  // namespace hal