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uncrustify libraries/AP_Motors/AP_MotorsTri.h

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uncrustify 2012-08-16 23:20:27 -07:00 committed by Pat Hickey
parent 6bf09c9b48
commit d6241b868f
1 changed files with 29 additions and 26 deletions
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45
libraries/AP_Motors/AP_MotorsTri.h
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@ -14,41 +14,44 @@
#include <AP_Motors.h> #include <AP_Motors.h>
// tail servo uses channel 7 // tail servo uses channel 7
#define AP_MOTORS_CH_TRI_YAW CH_7 #define AP_MOTORS_CH_TRI_YAW CH_7
/// @class AP_MotorsTri /// @class AP_MotorsTri
class AP_MotorsTri : public AP_Motors { class AP_MotorsTri : public AP_Motors {
public: public:
/// Constructor /// Constructor
AP_MotorsTri( 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, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsTri( 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, RC_Channel* rc_tail, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz),
_rc_tail(rc_tail) {}; _rc_tail(rc_tail) {
};
// init // init
virtual void Init(); virtual void Init();
// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
void set_update_rate( uint16_t speed_hz ); void set_update_rate( uint16_t speed_hz );
// enable - starts allowing signals to be sent to motors // enable - starts allowing signals to be sent to motors
virtual void enable(); virtual void enable();
// get basic information about the platform // get basic information about the platform
virtual uint8_t get_num_motors() { return 4; }; // 3 motors + 1 tail servo virtual uint8_t get_num_motors() {
return 4;
}; // 3 motors + 1 tail servo
// motor test // motor test
virtual void output_test(); virtual void output_test();
// output_min - sends minimum values out to the motors // output_min - sends minimum values out to the motors
virtual void output_min(); virtual void output_min();
protected: protected:
// output - sends commands to the motors // output - sends commands to the motors
virtual void output_armed(); virtual void output_armed();
virtual void output_disarmed(); virtual void output_disarmed();
RC_Channel* _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement RC_Channel* _rc_tail; // REV parameter used from this channel to determine direction of tail servo movement
}; };
#endif // AP_MOTORSTRI #endif // AP_MOTORSTRI