#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 // delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump
#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 // delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump
#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 // shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump
#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 // shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump
/// @class Camera
/// @brief Object managing a Photo or video camera
classAC_Sprayer{
classAC_Sprayer{
public:
public:
/// Constructor
/// Constructor
AC_Sprayer(AP_InertialNav*inav);
AC_Sprayer(constAP_InertialNav*inav);
/// enable - allows sprayer to be enabled/disabled. Note: this does not update the eeprom saved value
/// enable - allows sprayer to be enabled/disabled. Note: this does not update the eeprom saved value
voidenable(booltrue_false);
voidenable(booltrue_false);
/// enabled - returns true if fence is enabled
/// enabled - returns true if sprayer is enabled
boolenabled()const{return_enabled;}
boolenabled()const{return_enabled;}
/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
@ -64,7 +62,7 @@ public:
private:
private:
// pointers to other objects we depend upon
// pointers to other objects we depend upon
AP_InertialNav*_inav;
constAP_InertialNav*const_inav;
// parameters
// parameters
AP_Int8_enabled;// top level enable/disable control
AP_Int8_enabled;// top level enable/disable control