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39 lines
1.3 KiB
39 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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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#include "WheelEncoder_Backend.h" |
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#include <AP_Math/AP_Math.h> |
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#include <SITL/SITL.h> |
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class AP_WheelEncoder_SITL_Qaudrature : public AP_WheelEncoder_Backend |
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{ |
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public: |
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// constructor |
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AP_WheelEncoder_SITL_Qaudrature(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state); |
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// update state |
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void update(void) override; |
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private: |
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SITL::SITL *_sitl; // pointer to SITL singleton |
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int32_t _distance_count; // distance count as number of encoder ticks |
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uint32_t _total_count; // total number of encoder ticks |
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}; |
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#endif // CONFIG_HAL_BOARD
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