pwm_driver.h

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//\Author Kai Franke, Robert Bosch LLC

#ifndef PWM_Driver_H_
#define PWM_Driver_H_

// ROS headers for debugging output
#include <ros/console.h>
#include <bosch_drivers_common.hpp>
#include <bosch_drivers_sensor_driver.hpp>
#include <bosch_drivers_hardware_interface.hpp>

using namespace bosch_drivers_common;

class PwmDriver: public sensor_driver
{

public:
  PwmDriver( bosch_hardware_interface* hw, uint32_t frequency, uint8_t pin );
 
  // Destructor:
  ~PwmDriver();

  // Public Driver Methods:
  uint8_t getDeviceAddress( void ); 

        bool set( float value );
        
  bool initialize();
  
private:
  uint32_t _frequency;
  uint8_t _pin;
};

#endif // PWM_Driver_H_