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48 lines
1.4 KiB
48 lines
1.4 KiB
/* |
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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_Backend.h> |
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#include <SRV_Channel/SRV_Channel.h> |
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class AP_Winch_PWM : public AP_Winch_Backend { |
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public: |
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using AP_Winch_Backend::AP_Winch_Backend; |
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// true if winch is healthy |
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bool healthy() const override; |
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// control the winch |
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void update() override; |
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// returns current length of line deployed |
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float get_current_length() const override { return line_length; } |
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// send status to ground station |
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void send_status(const GCS_MAVLINK &channel) override; |
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// write log |
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void write_log() override; |
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private: |
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// update pwm outputs to control winch |
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void control_winch(); |
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uint32_t control_update_ms; // last time control_winch was called |
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float line_length; // estimated length of line in meters |
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};
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