#include "servo.h"

#include <esp32-hal.h> // For `millis()`

ServoController::ServoController() { }

void ServoController::configure(ServoConfiguration configuration) {
    openDuration = configuration.openDuration;
    pressedValue = configuration.pressedValue;
    releasedValue = configuration.releasedValue;
    ESP32PWM::allocateTimer(configuration.pwmTimer);
    servo.setPeriodHertz(configuration.pwmFrequency);
    servo.attach(configuration.pin);
    releaseButton();
}

void ServoController::pressButton() {
    servo.write(pressedValue);
    buttonIsPressed = true;
    openingEndTime = millis() + openDuration;
}

void ServoController::releaseButton() {
    servo.write(releasedValue);
    buttonIsPressed = false;
}

void ServoController::loop(uint32_t millis) {
    if (buttonIsPressed && millis > openingEndTime) {
        releaseButton();
    }
}