/
Sangak
/
ardupilot
Обзор
Документация
Войти
/
Sangak
/
ardupilot
Код
Запросы
0
Задачи
Вики
Пакеты
0
Релизы
0
Аналитика
Безопасность
master
libraries/AP_WheelEncoder/WheelEncoder_Backend.h
44 строки
2 KB
Peter Barker
AP_WheelEncoder: tidy includes
03 май 2022, 02:14
03 май 2022, 02:14
80c3415
Код
Авторство
О чём код?
/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ #pragma once #include <AP_Common/AP_Common.h> #include "AP_WheelEncoder.h" class AP_WheelEncoder_Backend { public: // constructor. This incorporates initialisation as well. AP_WheelEncoder_Backend(AP_WheelEncoder &frontend, uint8_t instance, AP_WheelEncoder::WheelEncoder_State &state); // we declare a virtual destructor so that WheelEncoder drivers can // override with a custom destructor if need be virtual ~AP_WheelEncoder_Backend(void) {} // update the state structure. All backends must implement this. virtual void update() = 0; protected: // return pin number. returns -1 if pin is not defined for this instance int8_t get_pin_a() const; int8_t get_pin_b() const; // copy state to front end helper function void copy_state_to_frontend(int32_t distance_count, uint32_t total_count, uint32_t error_count, uint32_t last_reading_ms); AP_WheelEncoder &_frontend; AP_WheelEncoder::WheelEncoder_State &_state; };