1 files changed, 58 insertions, 0 deletions
diff --git a/servo/servo_highlevel.go b/servo/servo_highlevel.go
new file mode 100644
index 0000000..66ec261
--- /dev/null
+++ b/servo/servo_highlevel.go
@@ -0,0 +1,58 @@
+package servo
+
+// High-level interface. (Most of this should be removed, or moved to a separate
+// type which embeds or interacts with the servo type.)
+
+func (s *Servo) posToAngle(p int) float64 {
+	return (positionToAngle * float64(p))
+}
+
+func (s *Servo) angleToPos(angle float64) int {
+	return int((angle) * angleToPosition)
+}
+
+/*
+// Returns the current position of the servo, relative to the zero angle.
+func (s *Servo) Angle() (float64, error) {
+	p, err := s.Position()
+
+	if err != nil {
+		return 0, err
+	}
+
+	return s.posToAngle(p), nil
+}
+
+// MoveTo sets the goal position of the servo by angle (in degrees), where zero
+// is the midpoint, 150 deg is max left (clockwise), and -150 deg is max right
+// (counter-clockwise). This is generally preferable to calling SetGoalPosition,
+// which uses the internal uint16 representation.
+func (s *Servo) MoveTo(angle float64) error {
+	p := s.angleToPos(normalizeAngle(angle))
+	return s.SetGoalPosition(p)
+}
+
+// Voltage returns the current voltage supplied. Unlike the underlying register,
+// this is the actual voltage, not multiplied by ten.
+func (s *Servo) Voltage() (float64, error) {
+	val, err := s.PresentVoltage()
+	if err != nil {
+		return 0.0, err
+	}
+
+	// Convert the return value into actual volts.
+	return (float64(val) / 10), nil
+}
+*/
+//
+func normalizeAngle(d float64) float64 {
+	if d > 180 {
+		return normalizeAngle(d - 360)
+
+	} else if d < -180 {
+		return normalizeAngle(d + 360)
+
+	} else {
+		return d
+	}
+}