#ifndef _PUSHER_H
#define _PUSHER_H

#include <cstdint>
#include "driver/ledc.h"
#include "semaphore.h"

static constexpr uint16_t MIN_PULSE_MS     = 544;  // the shortest pulse sent to a servo
static constexpr uint16_t MAX_PULSE_MS     = 2400; // the longest pulse sent to a servo
static constexpr uint16_t DEFAULT_PULSE_MS = 1500; // default pulse width

static constexpr int TIMER_WIDTH = LEDC_TIMER_15_BIT;
static constexpr uint16_t MIN_PULSE_WIDTH     = (1 << TIMER_WIDTH) * MIN_PULSE_MS / 20000;  // the shortest pulse sent to a servo
static constexpr uint16_t MAX_PULSE_WIDTH     = (1 << TIMER_WIDTH) * MAX_PULSE_MS / 20000; // the longest pulse sent to a servo
static constexpr uint16_t DEFAULT_PULSE_WIDTH = (1 << TIMER_WIDTH) * DEFAULT_PULSE_MS / 20000; // default pulse width

static constexpr uint8_t LEDC_NUM_CHANNELS = 8; // default pulse width

static constexpr TickType_t TIMEOUT = portMAX_DELAY;

class Pusher {
  public:
    Pusher(void);
    void setup(void);
    void push(int);
  private:
  volatile SemaphoreHandle_t xSemaphore;
};

#endif /* _PUSHER_H */