dji_2212.h

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/*
Copyright (C) 2017 Michael Brookes

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/>.
*/

#ifndef BEAGLEBONE_MOTOR_DJI_2212_H
#define BEAGLEBONE_MOTOR_DJI_2212_H

#include "../motors.h"

namespace quadro {

    namespace pwm {

        using namespace quadro::overlays;

        class dji_2212 : public motors {

            const long MAX_DUTY = 320000; //150000
            const long MIN_DUTY = 500000;
            const long SPIN_SLOWSPEED = 700000;
            const long SPIN_TAKEOFFSPEED = 250000;
            const long DEFAULT_PERIOD = 1900000;
            const long ACTIVATE_PERIOD = 1200000;
            const int DEFAULT_SPEED_STEP = 50;

        public:

            dji_2212( pinBlocks _block, PWMPins _pin );

            void init();

            void setDuty( long _duty );

            void setPeriod( long _period );

            void setRun( int _run );

            void setPolarity( int _polarity );

        };

    }

}

#endif //BEAGLEBONE_MOTOR_DJI_2212_H