ServoController.cpp

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#include "ServoController.hpp"

// keep the instance as static for callback
ServoController * servo_inst;

ServoController::ServoController(cabot::Handle &ch, uart_com &cm)
: SensorReader(ch), 
  cm(cm)
{
  servo_inst = this;
  ch.subscribe(0x36, [](const int16_t msg) {servo_inst->cm.set_servo_pos(msg);});
  ch.subscribe(0x37, [](const bool msg) {servo_inst->cm.set_servo_free(msg);});
}

void ServoController::init() {
  ch_.loginfo("initializing servo controller");
  cm.set_servo_pos(0);
}

void ServoController::update() {
    ch_.publish(0x38, (int16_t)cm.servo_position);
}