bbblue_pwm_rc.h

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#pragma once

#include "common.h"

namespace linux_pwm_out
{

/**
 ** class BBBlueRcPWMOut
 * PWM output class for BeagleBone Blue with Robotics Cape Library
 *
 * Ref: https://github.com/StrawsonDesign/Robotics_Cape_Installer
 *      http://www.strawsondesign.com/#!manual-servos
 */
class BBBlueRcPWMOut : public PWMOutBase
{
public:
    BBBlueRcPWMOut(int max_num_outputs);
    virtual ~BBBlueRcPWMOut();

    int init() override;

    int send_output_pwm(const uint16_t *pwm, int num_outputs) override;

private:
    static const int MAX_NUM_PWM = 8;
    static const int MIN_FREQUENCY_PWM = 40;

    int _num_outputs;
};

}