mirror of https://github.com/ArduPilot/ardupilot
67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_EPM.h
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*
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* Created on: DEC 06, 2013
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* Author: Andreas Jochum
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*/
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/// @file AP_EPM.h
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/// @brief AP_EPM control class
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#ifndef __AP_EPM_h__
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#define __AP_EPM_h__
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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#define EPM_PIN_1 61 // On pin - AN7
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#define EPM_PIN_2 62 // Off pin - AN8
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#define EPM_SUPPORTED true
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#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
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#define EPM_PIN_1 -1 // to be determine
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#define EPM_PIN_2 -1 // to be determine
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#define EPM_SUPPORTED false
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#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#define EPM_PIN_1 -1 // to be determine
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#define EPM_PIN_2 -1 // to be determine
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#define EPM_SUPPORTED false
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#else
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#define EPM_PIN_1 -1 // not supported
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#define EPM_PIN_2 -1 // not supported
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#define EPM_SUPPORTED false
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#endif
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/// @class AP_EPM
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/// @brief Class to manage the EPM_CargoGripper
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class AP_EPM {
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public:
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AP_EPM();
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// setup the epm pins
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void init();
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// enabled - true if the epm is enabled
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bool enabled();
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// activate the EPM
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void on();
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// de-activate the EPM
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void off();
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// do nothing
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void neutral();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _enabled;
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};
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#endif /* _AP_EPM_H_ */
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