mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.4 KiB
C++
45 lines
1.4 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include "AP_WheelEncoder.h"
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#include "WheelEncoder_Backend.h"
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// base class constructor.
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AP_WheelEncoder_Backend::AP_WheelEncoder_Backend(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state) :
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_frontend(frontend),
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_state(state)
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{
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}
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// return pin. returns -1 if pin is not defined for this instance
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int8_t AP_WheelEncoder_Backend::get_pin_a() const
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{
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if (_state.instance > 1) {
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return -1;
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}
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return _frontend._pina[_state.instance].get();
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}
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// return pin. returns -1 if pin is not defined for this instance
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int8_t AP_WheelEncoder_Backend::get_pin_b() const
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{
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if (_state.instance > 1) {
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return -1;
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}
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return _frontend._pinb[_state.instance].get();
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}
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