fly_sky_gimbal_input.hpp

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#pragma once
 
#include "wrap/rail/turret/igimbal_input.hpp"
 
#include "driver/remote/fly_sky.hpp"
namespace fang::turret
{
    class FlySkyGimbalInput : public IGimbalInput
    {
    public:
        using Remote = remote::FlySky;
        struct Config
        {
            Remote::Channel pitchChannel;
            Remote::Channel yawChannel;
        };
 
        FlySkyGimbalInput(Remote& remote, const Config& config);
 
        double getPitch() const override;
        double getYaw() const override;
    private:
        static constexpr double kAbstractMin{-1.0};
        static constexpr double kAbstractMax{1.0};
 
        static constexpr double kFiringWheelThreshold{750};
        Remote& remote_;
        const Config kConfig_;
    };
}