[Servo] Implemented reset position

src/shared/actuators/Servo/Servo.cpp

@@ -31,22 +31,32 @@ namespace Boardcore
 
 Servo::Servo(TIM_TypeDef* const timer, TimerUtils::Channel pwmChannel,
              unsigned int minPulse, unsigned int maxPulse,
-             unsigned int frequency)
+             unsigned int frequency, unsigned int resetPulse)
     : pwm(timer, frequency), pwmChannel(pwmChannel), minPulse(minPulse),
-      maxPulse(maxPulse), frequency(frequency)
+      maxPulse(maxPulse), resetPulse(resetPulse), frequency(frequency)
+{
+    setPosition(resetPulse);
+}
+
+Servo::Servo(TIM_TypeDef* const timer, TimerUtils::Channel pwmChannel,
+             unsigned int minPulse, unsigned int maxPulse,
+             unsigned int frequency)
+    : Servo(timer, pwmChannel, minPulse, maxPulse, frequency, minPulse)
 {
-    setPosition(0);
 }
 
 void Servo::enable() { pwm.enableChannel(pwmChannel); }
 
 void Servo::disable() { pwm.disableChannel(pwmChannel); }
 
+void Servo::reset() { setPosition(resetPulse); }
+
 #else
 
 Servo::Servo(unsigned int minPulse, unsigned int maxPulse,
              unsigned int frequency)
-    : minPulse(minPulse), maxPulse(maxPulse), frequency(frequency)
+    : minPulse(minPulse), maxPulse(maxPulse), frequency(frequency),
+      resetPulse(minPulse)
 {
     setPosition(0);
 }

src/shared/actuators/Servo/Servo.h

@@ -76,6 +76,21 @@ public:
     explicit Servo(TIM_TypeDef* const timer, TimerUtils::Channel pwmChannel,
                    unsigned int minPulse = 1000, unsigned int maxPulse = 2000,
                    unsigned int frequency = 50);
+    /**
+     * @brief Prepare the timer and sets the PWM output to the minimum.
+     *
+     * @see Servo::Servo
+     *
+     * @param timer Timer peripheral used for the PWM signal.
+     * @param pwmChannel Timer's channel used for the PWM signal.
+     * @param frequency Frequency of the PWM driving the H-bridge.
+     * @param minPulse Minimum signal pulse in microseconds.
+     * @param maxPulse Maximum signal pulse in microseconds.
+     * @param resetPulse Reset signal pulse in microseconds.
+     */
+    explicit Servo(TIM_TypeDef* const timer, TimerUtils::Channel pwmChannel,
+                   unsigned int minPulse, unsigned int maxPulse,
+                   unsigned int frequency, unsigned int resetPulse);
 #else
     explicit Servo(unsigned int minPulse = 1000, unsigned int maxPulse = 2000,
                    unsigned int frequency = 50);
@@ -91,6 +106,11 @@ public:
      */
     void disable();
 
+    /**
+     * @brief Moves the servo to the reset position.
+     */
+    void reset();
+
     /**
      * @brief Set the position of the servomotor.
      *
@@ -136,6 +156,7 @@ private:
 
     float minPulse;
     float maxPulse;
+    float resetPulse;
     float frequency;
 };