#include "ServoMotor.h"
#include "Timer.h"

#define SERVO_MOTO_FREQ 50

void ServoMotor_conf(TIM_TypeDef * timer, int channel)
{
	Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0);
}

void ServoMotor_start(TIM_TypeDef * timer)
{
	Timer_start(timer);
}

void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
{
	Timer_pwmo_setDutyCycle(timer, channel, ((float) angle) / 359.0);
}

int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
{
	const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
	return 359 * dutyCycle;
}