File content as of revision 7:f9e1e813fa24:

#ifndef POLYSERVO_H
#define POLYSERVO_H

#include "mbed.h"
#include "FPointer.h"
#include <vector>
//#include "SpecifiedTimeout.h"


#define SERVO_DISABLED -1       // This is going to take raw servo microsecond entries. 
#define PPM_PERIOD 20000  // In microseconds

void servo_set(int id);



class Polyservo {
public:
    
    std::vector<DigitalOut *> servos;
    //DigitalOut * servos; 
    
    bool global_enable; 
    std::vector<int> positions;
    int numservos; 
    
    Polyservo(DigitalOut servo_pins[], int num_pins);
    void set_position(int s, int pos);
    
    
    
    
    
private: 
    
    Ticker period_tick; 
    std::vector<Timeout *> servo_timers;
    //Timeout * servo_times; 
    
    //void servo_set(int id);
    
    void servos_reset(void);
    
    template <typename Func, Func func>
    
    struct ResetWrapper {
        ResetWrapper(int id): id_(id) { }
        void f() {func(id_);}
        int id_; 
        };
        

        
        
    
    
    
    
    
    


};



#endif