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40 lines
1.3 KiB
40 lines
1.3 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_Servo : public AP_Winch_Backend { |
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public: |
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AP_Winch_Servo(struct AP_Winch::Backend_Config &_config) : |
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AP_Winch_Backend(_config) { } |
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// initialise the winch |
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void init(const AP_WheelEncoder* wheel_encoder) override; |
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// control the winch |
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void update() override; |
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private: |
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// external reference |
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const AP_WheelEncoder* _wheel_encoder; |
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uint32_t last_update_ms; // last time update was called |
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bool limit_high; // output hit limit on last iteration |
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bool limit_low; // output hit lower limit on last iteration |
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};
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