From f12a65814514912ea2421be3bceaea0aa29551c7 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 4 Jan 2024 18:03:00 +0100
Subject: [PATCH] Extended servo support

---
 FeedbackServo.cpp | 3 +++
 Roboid.h          | 3 +++
 ServoMotor.cpp    | 3 +++
 VectorAlgebra     | 2 +-
 4 files changed, 10 insertions(+), 1 deletion(-)
 create mode 100644 FeedbackServo.cpp
 create mode 100644 ServoMotor.cpp

diff --git a/FeedbackServo.cpp b/FeedbackServo.cpp
new file mode 100644
index 0000000..cab0e95
--- /dev/null
+++ b/FeedbackServo.cpp
@@ -0,0 +1,3 @@
+#include "FeedbackServo.h"
+
+FeedbackServo::FeedbackServo() {}
\ No newline at end of file
diff --git a/Roboid.h b/Roboid.h
index 4a64ef6..15a133a 100644
--- a/Roboid.h
+++ b/Roboid.h
@@ -2,6 +2,7 @@
 
 #include "Perception.h"
 #include "Propulsion.h"
+#include "Servo.h"
 
 namespace Passer {
 namespace RoboidControl {
@@ -18,6 +19,8 @@ public:
   /// @param propulsion The Propulsion implementation to use for this Roboid
   Roboid(Perception *perception, Propulsion *propulsion = nullptr);
 
+  Roboid(Perception *perception, Servo **actuation);
+
   /// @brief Update the state of the Roboid
   /// @param currentTimeMs The time in milliseconds when calling this
   /// function
diff --git a/ServoMotor.cpp b/ServoMotor.cpp
new file mode 100644
index 0000000..c0a7781
--- /dev/null
+++ b/ServoMotor.cpp
@@ -0,0 +1,3 @@
+#include "ServoMotor.h"
+
+ServoMotor::ServoMotor() {}
\ No newline at end of file
diff --git a/VectorAlgebra b/VectorAlgebra
index 5a03d29..96bcc4a 160000
--- a/VectorAlgebra
+++ b/VectorAlgebra
@@ -1 +1 @@
-Subproject commit 5a03d296e5180236f12797f925a3e3711b5bb2d1
+Subproject commit 96bcc4a405e4df95b7f54ba99fcd2c60079e0ae6