mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
2dfb6a94f2
fixes after peer review: renamed disable to relaxed make parameters private default type to 1 enabled method checks backend created servo range initialised in init method contrain rate-desired during position control use set-output-limit instead of set-safety-limit release_length accepts rate
35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
/*
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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.h>
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class AP_Winch_Backend {
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public:
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AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
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config(_config) { }
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// initialise the backend
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virtual void init(const AP_WheelEncoder* wheel_encoder) = 0;
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// update - should be called at at least 10hz
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virtual void update() = 0;
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protected:
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struct AP_Winch::Backend_Config &config;
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};
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