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