Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_Motors/AP_MotorsMatrix.h

This commit is contained in:
uncrustify 2012-08-16 23:20:27 -07:00 committed by Pat Hickey
parent b8cc5ac4af
commit 4fe97c1e7b
1 changed files with 56 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

107
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -19,73 +19,78 @@
#define AP_MOTORS_MATRIX_MOTOR_CW -1
#define AP_MOTORS_MATRIX_MOTOR_CCW 1
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_Motors {
public:
/// @class AP_MotorsMatrix
class AP_MotorsMatrix : public AP_Motors {
public:
/// Constructor
AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
instant_pwm_force01(false),
instant_pwm_force23(false),
instant_pwm_force67(false),
_num_motors(0) {};
/// Constructor
AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
instant_pwm_force01(false),
instant_pwm_force23(false),
instant_pwm_force67(false),
_num_motors(0) {
};
// init
virtual void Init();
// init
virtual void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// you must have setup_motors before calling this
virtual void set_update_rate( uint16_t speed_hz );
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
// you must have setup_motors before calling this
virtual void set_update_rate( uint16_t speed_hz );
// set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation );
// set frame orientation (normally + or X)
virtual void set_frame_orientation( uint8_t new_orientation );
// enable - starts allowing signals to be sent to motors
virtual void enable();
// enable - starts allowing signals to be sent to motors
virtual void enable();
// get basic information about the platform
virtual uint8_t get_num_motors() { return _num_motors; };
// get basic information about the platform
virtual uint8_t get_num_motors() {
return _num_motors;
};
// motor test
virtual void output_test();
// output_min - sends minimum values out to the motors
virtual void output_min();
// motor test
virtual void output_test();
// add_motor using just position and prop direction
virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// output_min - sends minimum values out to the motors
virtual void output_min();
// remove_motor
virtual void remove_motor(int8_t motor_num);
// add_motor using just position and prop direction
virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// remove_all_motors - removes all motor definitions
virtual void remove_all_motors();
// remove_motor
virtual void remove_motor(int8_t motor_num);
// setup_motors - configures the motors for a given frame type - should be overwritten by child classes
virtual void setup_motors() { remove_all_motors(); };
// remove_all_motors - removes all motor definitions
virtual void remove_all_motors();
// matrix
AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
// setup_motors - configures the motors for a given frame type - should be overwritten by child classes
virtual void setup_motors() {
remove_all_motors();
};
// used for instant_pwm only
bool instant_pwm_force01;
bool instant_pwm_force23;
bool instant_pwm_force67;
// matrix
AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor
AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence
// used for instant_pwm only
bool instant_pwm_force01;
bool instant_pwm_force23;
bool instant_pwm_force67;
protected:
// output - sends commands to the motors
virtual void output_armed();
virtual void output_disarmed();
// output - sends commands to the motors
virtual void output_armed();
virtual void output_disarmed();
// add_motor using raw roll, pitch, throttle and yaw factors
virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
// add_motor using raw roll, pitch, throttle and yaw factors
virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED);
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
};
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)
};
#endif // AP_MOTORSMATRIX