Provide public API to configure servo runtime. (#87)

Author: aentinger

src/Braccio++.h

@@ -196,6 +196,8 @@ class Servo
   inline float position()            { return _servos.getPosition(_id); }
   inline bool  connected()           { return Braccio.connected(_id); }
   inline void  info(Stream & stream) { _servos.getInfo(stream, _id); }
+  inline uint16_t runtime() { return _servos.getTime(_id); }
+  inline void     setRuntime(uint16_t const time) { _servos.setTime(_id, time); }
 
   operator bool() { return connected(); }
 

src/lib/motors/SmartServo.cpp

@@ -274,6 +274,12 @@ void SmartServoClass::setTime(uint8_t const id, uint16_t const time)
   writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time);
 }
 
+uint16_t SmartServoClass::getTime(uint8_t const id)
+{
+  mbed::ScopedLock<rtos::Mutex> lock(_mtx);
+  return readWordCmd(id, REG(SmartServoRegister::RUN_TIME_H));
+}
+
 void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const max_torque)
 {
   mbed::ScopedLock<rtos::Mutex> lock(_mtx);

src/lib/motors/SmartServo.h

@@ -74,8 +74,9 @@ class SmartServoClass
   void setMaxAngle(uint16_t const max_angle);
   void setMaxAngle(uint8_t const id, uint16_t const max_angle);
 
-  void setTime(uint16_t const time);
-  void setTime(uint8_t const id, uint16_t const time);
+  void     setTime(uint16_t const time);
+  void     setTime(uint8_t const id, uint16_t const time);
+  uint16_t getTime(uint8_t const id);
 
   void center(uint8_t const id, uint16_t const position);