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34 lines
1.0 KiB
34 lines
1.0 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.h> |
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class AP_Winch_Backend { |
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public: |
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AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) : |
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config(_config) { } |
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// initialise the backend |
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virtual void init(const AP_WheelEncoder* wheel_encoder) = 0; |
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// update - should be called at at least 10hz |
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virtual void update() = 0; |
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protected: |
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struct AP_Winch::Backend_Config &config; |
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};
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