Mcucpp

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#include <usart.h>
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#include <tiny_ostream.h>
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#include <iopins.h>
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#include <pinlist.h>
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#include <delay.h>
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#include <timers.h>
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#include <drivers/servo.h>
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using namespace Mcucpp;
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typedef Usart1 MyUsart;
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class UsartOut
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{
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	public:
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	void put(char c)
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	{
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		MyUsart::Write(c);
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	}
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 };
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typedef basic_ostream<UsartOut> ostream;
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ostream cout; 
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typedef IO::Pc8 Led;
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typedef Timers::Timer1 ServoTimer;
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typedef IO::PinList<IO::Pc0, IO::Pc1> ServoPins;
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Servo<ServoPins, ServoTimer> servo;
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const int ServoTable[] = {
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	128, 140, 153, 165,
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	177, 188, 199, 209,
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	219, 227, 234, 241,
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	246, 250, 253, 254,
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	254, 253, 251, 248,
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	243, 237, 230, 222,
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	213, 204, 193, 182,
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	170, 158, 145, 133,
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	120, 107, 95,  83, 
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	71,  60,  50,  40, 
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	31,  24,  17,  11, 
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	7,   3,   1,   1,  
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	1,   3,   6,   10, 
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	15,  22,  29,  38, 
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	47,  58,  68,  80, 
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	92,  104, 117
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};
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static const int Elements = sizeof(ServoTable) / sizeof(ServoTable[0]);
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int main()
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{	
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	MyUsart::Init(9600);
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	MyUsart::SelectTxRxPins(0, 0);
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	sei();
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	cout << "Hello, world!\r\n";
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	cout << "Clock = " << Clock::SysClock::ClockFreq() << "\r\n";
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	servo.UpdateTimings();
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	cout << "servo._pulseDivider = " << servo._pulseDivider << "\r\n";
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	cout << "servo._pulseMaxReload = " << servo._pulseMaxTicks << "\r\n";
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	cout << "servo._pulseMinReload = " << servo._pulseMinTicks << "\r\n";
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	cout << "servo._pauseDivider = " << servo._pauseDivider << "\r\n";
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	cout << "servo._pauseReload = " << servo._pauseTicks << "\r\n";
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	servo.TimerHandler();
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	ServoTimer::EnableInterrupt(ServoTimer::OverflowInt);
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	int pos = 0, prev = 0;
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	DDRC = 0xff;
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	while(1)
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	{
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		delay_ms<10, F_CPU>();
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		servo.SetPosition(0, (ServoTable[pos] + ServoTable[prev]) / 2);
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		delay_ms<10, F_CPU>();
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		servo.SetPosition(0, ServoTable[pos]);
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		servo.SetPosition(1, 127);
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		prev = pos;
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		pos++;
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		if(pos >= Elements)
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			pos = 0; 
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	}
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	return 0;
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}
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ISR(TIMER1_OVF_vect)
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{
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	ServoTimer::ClearInterruptFlag();
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	servo.TimerHandler();
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	ServoTimer::EnableInterrupt(ServoTimer::OverflowInt);
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}
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