mirror of https://github.com/ArduPilot/ardupilot
33 lines
910 B
C++
33 lines
910 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_MotorsY6.h
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/// @brief Motor control class for Y6 frames
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#ifndef __AP_MOTORS_Y6_H__
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#define __AP_MOTORS_Y6_H__
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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#include "AP_MotorsMatrix.h" // Parent Motors Matrix library
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#define AP_MOTORS_Y6_YAW_DIRECTION 1 // this really should be a user selectable parameter
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/// @class AP_MotorsY6
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class AP_MotorsY6 : public AP_MotorsMatrix {
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public:
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/// Constructor
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AP_MotorsY6(uint16_t loop_rate, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
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AP_MotorsMatrix(loop_rate, speed_hz)
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{ };
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// setup_motors - configures the motors for a Y6
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virtual void setup_motors();
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protected:
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};
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#endif // AP_MOTORSY6
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