#ifndef SOFTWARESERVO_IS_IN
#define SOFTWARESERVO_IS_IN

#include <inttypes.h>
#include <WProgram.h>
#include <wiring.h>

class SoftwareServo
{
 private:
  uint8_t pin;
  uint8_t angle;       // in degrees
  uint16_t pulse0;     // pulse width in TCNT0 counts
  uint8_t min16;       // minimum pulse, 16uS units  (default is 34)
  uint8_t max16;       // maximum pulse, 16uS units, 0-4ms range (default is 150)
  class SoftwareServo *next;
  static SoftwareServo* first;
 public:
  SoftwareServo();
  uint8_t attach(int);     // attach to a pin, sets pinMode, returns 0 on failure, won't
  // position the servo until a subsequent write() happens
  void detach();
  void write(int);         // specify the angle in degrees, 0 to 180
  uint8_t read();
  uint8_t attached();
  void setMinimumPulse(uint16_t);  // pulse length for 0 degrees in microseconds, 540uS default
  void setMaximumPulse(uint16_t);  // pulse length for 180 degrees in microseconds, 2400uS default
  static void refresh();    // must be called at least every 50ms or so to keep servo alive
  // you can call more often, it won't happen more than once every 20ms
};

#endif