#ifndef SERVO_H
#define SERVO_H


#define NUM_SERVO_CHANNELS 18
#define SERVO_CENTER_PULSE 1500
#define SERVO_MIN_PULSE 750
#define SERVO_MAX_PULSE 2500
#define SERVO_HALF_PULSE_RANGE 875
#define SERVO_MAX_ANGLE 2.3561944902f
#define SERVO_MIN_ANGLE -2.3561944902f
#define SERVO_ANGLE_PULSE_MULTIPLIER 371.3615338798826f


struct servo_t {
	float current_position;
	float set_position;
};


int servo_init();
void servo_set_angle(int channel, float angle);
void servo_set_all_angles(float angles[NUM_SERVO_CHANNELS]);
int servo_set(int channel, float angle);


#endif // SERVO_H