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#include <gpiod.hpp>
#include <thread>
#include <chrono>

int main() {
    // Create a GPIO chip object
    gpiod::chip chip("/dev/gpiochip0");

    // Create a line event listener for GPIO pin 14
    auto line = chip.get_line(14);

    // Set line direction to output
    line.request({
        .consumer = "servo",
        .request_type = gpiod::line_request::DIRECTION_OUTPUT,
        .flags = gpiod::line_request::FLAG_OPEN_DRAIN,
        .config = 0
    });

    // Create a servo object with custom pulse width
    // Note: Pulse width values might need to be adjusted based on servo specifications
    double min_pulse_width = 0.000544;
    double max_pulse_width = 0.0024;
    double mid_pulse_width = (max_pulse_width + min_pulse_width) / 2.0;

    while (true) {
        // Move the servo to the mid position
        line.set_active_state(gpiod::line_active_state::ACTIVE_HIGH);
        line.set_value(mid_pulse_width);
        std::cout << "servo mid" << std::endl;
        std::this_thread::sleep_for(std::chrono::seconds(3));

        // Sweep the servo from one extreme to the other
        for (int i = 0; i <= 10; ++i) {
            double value = -1.0 + 0.2 * i;
            line.set_value(value);
            std::this_thread::sleep_for(std::chrono::seconds(2));
        }

        for (int i = 0; i <= 10; ++i) {
            double value = 1.0 - 0.2 * i;
            line.set_value(value);
            std::this_thread::sleep_for(std::chrono::seconds(2));
        }
    }

    return 0;
}