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MaEtUgR
30 lines
530 B
C++
30 lines
530 B
C++
#pragma once
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#include <px4_posix.h>
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#include <controllib/uorb/blocks.hpp>
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using namespace control;
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class BlockSegwayController : public control::BlockUorbEnabledAutopilot
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{
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public:
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BlockSegwayController() :
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BlockUorbEnabledAutopilot(NULL, "SEG"),
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th2v(this, "TH2V"),
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q2v(this, "Q2V"),
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_attPoll(),
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_timeStamp(0)
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{
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_attPoll.fd = _att.getHandle();
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_attPoll.events = POLLIN;
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}
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void update();
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private:
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enum {CH_LEFT, CH_RIGHT};
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BlockPI th2v;
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BlockP q2v;
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px4_pollfd_struct_t _attPoll;
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uint64_t _timeStamp;
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};
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