servos.h

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/* USER CODE BEGIN Header */
#ifndef SERVOS_H
#define SERVOS_H
 
#include "stm32f4xx_hal.h"

class Servo {
    public:
        Servo(TIM_HandleTypeDef* htim, uint32_t channel);
 
        void attach();                          // Start PWM
        void detach();                          // Stop PWM
        void setPulseWidth(uint16_t pulse_us);  // Set pulse in microseconds (e.g., 1000–2000)
        void setAngle(uint8_t angleDeg);        // Optional: 0–180 degrees
        void startStopAngle(uint8_t angle1, uint8_t angle2);
 
    private:

        TIM_HandleTypeDef* htim;

        uint32_t channel;
 
        uint16_t angleToPulse(uint8_t angleDeg); // Internal map: 0–180 → 1000–2000 µs
    };
 
#endif