hexapod-robot/2026-current/robot/ServoDriver.h

#pragma once
#include "Kinematics.h"

class ServoDriver {
public:
  void begin();                                       // set up the PWM pins (no pulses yet)
  void relaxAll();                                     // stop all pulses - call when disarming
  void writeLeg(int leg_index, const JointAngles& angles);

  // Joint angle -> pulse through that servo's calibration (Config.h SERVOS).
  static int degToMicros(int leg, int joint, float deg);
};