mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.3 KiB
C
41 lines
1.3 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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#pragma once
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#include <AP_Winch/AP_Winch_Backend.h>
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#include <SRV_Channel/SRV_Channel.h>
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class AP_Winch_Servo : public AP_Winch_Backend {
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public:
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AP_Winch_Servo(struct AP_Winch::Backend_Config &_config) :
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AP_Winch_Backend(_config) { }
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// initialise the winch
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void init(const AP_WheelEncoder* wheel_encoder) override;
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// control the winch
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void update() override;
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private:
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// external reference
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const AP_WheelEncoder* _wheel_encoder;
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uint32_t last_update_ms; // last time update was called
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bool limit_high; // output hit limit on last iteration
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bool limit_low; // output hit lower limit on last iteration
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};
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