Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #pragma once
      17             : 
      18             : #include <AP_Winch/AP_Winch_Backend.h>
      19             : 
      20             : #if AP_WINCH_PWM_ENABLED
      21             : 
      22             : class AP_Winch_PWM : public AP_Winch_Backend {
      23             : public:
      24             : 
      25             :     using AP_Winch_Backend::AP_Winch_Backend;
      26             : 
      27             :     // true if winch is healthy
      28             :     bool healthy() const override;
      29             : 
      30             :     // control the winch
      31             :     void update() override;
      32             : 
      33             :     // returns current length of line deployed
      34        1026 :     float get_current_length() const override { return line_length; }
      35             : 
      36             :     // send status to ground station
      37             :     void send_status(const GCS_MAVLINK &channel) override;
      38             : 
      39             : #if HAL_LOGGING_ENABLED
      40             :     // write log
      41             :     void write_log() override;
      42             : #endif
      43             : 
      44             : private:
      45             : 
      46             :     // update pwm outputs to control winch
      47             :     void control_winch();
      48             : 
      49             :     uint32_t control_update_ms; // last time control_winch was called
      50             :     float line_length;          // estimated length of line in meters
      51             : };
      52             : 
      53             : #endif  // AP_WINCH_PWM_ENABLED