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32 lines
881 B
32 lines
881 B
// -*- 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.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <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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