/home/travis/build/lis-epfl/MAVRIC_Library/control/servos_mix.hpp

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/*******************************************************************************
 * \file servos_mix.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 * \author Nicolas Dousse
 * \author Basil Huber
 *
 * \brief Abstract class that links between torque commands and servos PWM command for quadcopters
 *
 ******************************************************************************/


#ifndef SERVOS_MIX_HPP_
#define SERVOS_MIX_HPP_

#include "control/controller.hpp"
#include "control/control_command.hpp"
#include "util/coord_conventions.hpp"
#include "drivers/servo.hpp"
#include "util/constants.hpp"


class Servos_mix : public Controller_2_to_1<torque_command_t, thrust_command_t, empty_command_t>
{
public:

    /*
     * \brief   Write motor commands to servos based on torque command
     */
    virtual bool update()=0;


    /*
     * \brief   Write failsafe motor commands to servos
     */
    virtual bool failsafe()=0;


    virtual bool set_command(const torque_command_t& torque) = 0;


    virtual bool set_command(const thrust_command_t& thrust) = 0;


    virtual bool get_command(torque_command_t& torque) const = 0;


    virtual bool get_command(thrust_command_t& thrust) const = 0;


    virtual bool get_output(empty_command_t& command) const
    {
        return true;
    };
};

#endif