sg90.h

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#pragma once
 
#include "pico/stdlib.h"
#include "hw/pwm/hw_pwm.h"
 

#define STEP_ns 2000 
#define PHASE_CORRECT false 
#define PERIOD_us 20000 
#define T_MIN_us 500 
#define T_MAX_us 2500

struct struct_ConfigSG90
{
    uint command_pin;
    uint sync_pin; 
    int pos_min_degree = -90;
    int pos_max_degree = +90;
};

class SG90
{
private:
    PWM *pwm;
    uint command;
    uint sync;
    int pos_min_deg;
    int pos_max_deg;
    float coef_us_per_degree;
 
public:
    SG90(struct_ConfigSG90 sg90_config);
    void set_pos(int pos);
};