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+/*
+ Copyright (c) 2017 John K. Bennett. All right reserved.
+
+ ESP32_Servo.h - Servo library for ESP32 - Version 1
+
+ Original Servo.h written by Michael Margolis in 2009
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+/* 
+ A servo is activated by creating an instance of the Servo class, and passing
+ the desired GPIO pin to the attach() method.
+ The servos are pulsed in the background using the value most recently
+ written using the write() method.
+
+ The class methods are:
+
+ Servo - Class for manipulating servo motors connected to ESP32 pins.
+ int attach(pin )  - Attaches the given GPIO pin to the next free channel
+ (channels that have previously been detached are used first),
+ returns channel number or 0 if failure. All pin numbers are allowed,
+ but only pins 2,4,12-19,21-23,25-27,32-33 are recommended.
+ int attach(pin, min, max  ) - Attaches to a pin setting min and max
+ values in microseconds; enforced minimum min is 500, enforced max
+ is 2500. Other semantics same as attach().
+ void write () - Sets the servo angle in degrees; a value below 500 is
+ treated as a value in degrees (0 to 180). These limit are enforced,
+ i.e., values are treated as follows:
+ Value                                   Becomes
+ -----                                   -------
+ < 0                                        0
+ 0 - 180                             value (treated as degrees)
+ 181 - 499                                 180
+ 500 - (min-1)                             min
+ min-max (from attach or default)    value (treated as microseconds)
+ (max+1) - 2500                            max
+
+ void writeMicroseconds() - Sets the servo pulse width in microseconds.
+ min and max are enforced (see above).
+ int read() - Gets the last written servo pulse width as an angle between 0 and 180.
+ int readMicroseconds()   - Gets the last written servo pulse width in microseconds.
+ bool attached() - Returns true if this servo instance is attached.
+ void detach() - Stops an the attached servo, frees its attached pin, and frees
+ its channel for reuse).
+
+ *** ESP32-specific functions **
+ setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY);
+ as a side effect, the pulse width is recomputed.
+ int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY)
+ */
+
+#ifndef ESP32_Servo_h
+#define ESP32_Servo_h
+//#include "analogWrite.h"
+#include "ESP32PWM.h"
+//#include "ESP32Tone.h"
+//Enforce only using PWM pins on the ESP32
+#define ENFORCE_PINS
+// Default Arduino Servo.h
+#define DEFAULT_uS_LOW 544
+#define DEFAULT_uS_HIGH 2400
+
+// Values for TowerPro MG995 large servos (and many other hobbyist servos)
+//#define DEFAULT_uS_LOW 1000        // 1000us
+//#define DEFAULT_uS_HIGH 2000      // 2000us
+
+// Values for TowerPro SG90 small servos
+//#define DEFAULT_uS_LOW 400
+//#define DEFAULT_uS_HIGH 2400
+
+#ifdef ARDUINO_ESP32C3_DEV
+#define MINIMUM_TIMER_WIDTH 10
+#define MAXIMUM_TIMER_WIDTH 14
+#define DEFAULT_TIMER_WIDTH 10
+#else
+#define MINIMUM_TIMER_WIDTH 10
+#define MAXIMUM_TIMER_WIDTH 20
+#define DEFAULT_TIMER_WIDTH 10
+#endif
+#define DEFAULT_TIMER_WIDTH_TICKS 1024
+
+#define ESP32_Servo_VERSION           1     // software version of this library
+
+#define MIN_PULSE_WIDTH       500     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2500     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define DEFAULT_PULSE_WIDTH_TICKS 4825
+//#define REFRESH_CPS            50
+#define REFRESH_USEC         20000
+
+#define MAX_SERVOS              16     // no. of PWM channels in ESP32
+
+/*
+ * This group/channel/timmer mapping is for information only;
+ * the details are handled by lower-level code
+ *
+ * LEDC Chan to Group/Channel/Timer Mapping
+ ** ledc: 0  => Group: 0, Channel: 0, Timer: 0
+ ** ledc: 1  => Group: 0, Channel: 1, Timer: 0
+ ** ledc: 2  => Group: 0, Channel: 2, Timer: 1
+ ** ledc: 3  => Group: 0, Channel: 3, Timer: 1
+ ** ledc: 4  => Group: 0, Channel: 4, Timer: 2
+ ** ledc: 5  => Group: 0, Channel: 5, Timer: 2
+ ** ledc: 6  => Group: 0, Channel: 6, Timer: 3
+ ** ledc: 7  => Group: 0, Channel: 7, Timer: 3
+ ** ledc: 8  => Group: 1, Channel: 0, Timer: 0
+ ** ledc: 9  => Group: 1, Channel: 1, Timer: 0
+ ** ledc: 10 => Group: 1, Channel: 2, Timer: 1
+ ** ledc: 11 => Group: 1, Channel: 3, Timer: 1
+ ** ledc: 12 => Group: 1, Channel: 4, Timer: 2
+ ** ledc: 13 => Group: 1, Channel: 5, Timer: 2
+ ** ledc: 14 => Group: 1, Channel: 6, Timer: 3
+ ** ledc: 15 => Group: 1, Channel: 7, Timer: 3
+ */
+
+class Servo {
+
+public:
+	Servo();
+	// Arduino Servo Library calls
+	int attach(int pin); // attach the given pin to the next free channel, returns channel number or 0 if failure
+	int attach(int pin, int min, int max); // as above but also sets min and max values for writes.
+	void detach();
+	void write(int value); // if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds
+	void writeMicroseconds(int value);     // Write pulse width in microseconds
+	void writeTicks(int value);     // Write ticks, the smallest increment the servo can handle
+	void release();
+	int read(); // returns current pulse width as an angle between 0 and 180 degrees
+	int readMicroseconds(); // returns current pulse width in microseconds for this servo
+	int readTicks(); // returns current ticks, the smallest increment the servo can handle
+	bool attached(); // return true if this servo is attached, otherwise false
+
+	// ESP32 only functions
+	void setTimerWidth(int value);     // set the PWM timer width (ESP32 ONLY)
+	int readTimerWidth();              // get the PWM timer width (ESP32 ONLY)
+	void setPeriodHertz(int hertz){
+		REFRESH_CPS=hertz;
+		setTimerWidth(this->timer_width);
+	}
+private:
+	int usToTicks(int usec);
+	int ticksToUs(int ticks);
+//   static int ServoCount;                             // the total number of attached servos
+//   static int ChannelUsed[];                          // used to track whether a channel is in service
+//   int servoChannel = 0;                              // channel number for this servo
+
+	int min = DEFAULT_uS_LOW;           // minimum pulse width for this servo
+	int max = DEFAULT_uS_HIGH;            // maximum pulse width for this servo
+	int pinNumber = 0;                      // GPIO pin assigned to this channel
+	int timer_width = DEFAULT_TIMER_WIDTH; // ESP32 allows variable width PWM timers
+	int ticks = DEFAULT_PULSE_WIDTH_TICKS; // current pulse width on this channel
+	int timer_width_ticks = DEFAULT_TIMER_WIDTH_TICKS; // no. of ticks at rollover; varies with width
+	ESP32PWM * getPwm(); // get the PWM object
+	ESP32PWM pwm;
+	int REFRESH_CPS = 50;
+
+};
+#endif