Pwm.h

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//
// Created by noeel on 18-10-20.
//

#ifndef ARUNA_PWM_H
#define ARUNA_PWM_H

#include "aruna/arunaTypes.h"
#include "aruna/movement/Actuator.h"

namespace aruna {
    namespace driver {
    class Pwm: public movement::Actuator {
        private:
            uint32_t frequency_hz;
            uint16_t duty;

            virtual err_t _set_frequency(uint32_t frequency_hz) = 0;

            virtual err_t _set_duty(uint16_t duty) = 0;

            err_t _set(movement::axis_mask_t axisMask, int16_t speed) override;

        public:

            err_t set_frequency(uint32_t frequency_hz);

            uint32_t get_frequency() const;

            err_t set_duty(float duty_percentage);

            err_t set_duty(uint16_t duty);

            float get_duty_per() const;

            uint16_t get_duty() const;

        };
    }
}


#endif //ARUNA_PWM_H