-- Template for servos controlled by a variable width control pulse -- realized with an underlying PWM output -- Copyright (C)2019-2023, Philip Munts dba Munts Technologies. -- -- Redistribution and use in source and binary forms, with or without -- modification, are permitted provided that the following conditions are met: -- -- * Redistributions of source code must retain the above copyright notice, -- this list of conditions and the following disclaimer. -- -- THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -- AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -- IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -- ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -- LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -- CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -- SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -- INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -- CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -- ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -- POSSIBILITY OF SUCH DAMAGE. WITH PWM; GENERIC MinimumWidth : IN Duration; MaximumWidth : IN Duration; PACKAGE Servo.PWM_Template IS -- Type definitions TYPE OutputSubclass IS NEW Servo.OutputInterface WITH PRIVATE; -- Servo output object constructor FUNCTION Create (output : NOT NULL PWM.Output; position : Servo.Position := Servo.NeutralPosition) RETURN Servo.Output; -- Servo output write method PROCEDURE Put (Self : IN OUT OutputSubclass; position : Servo.Position); PRIVATE TYPE OutputSubclass IS NEW Servo.OutputInterface WITH RECORD output : PWM.Output; END RECORD; END Servo.PWM_Template;