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75 lines
2.4 KiB
75 lines
2.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* AP_EPM.h |
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* |
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* Created on: DEC 06, 2013 |
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* Author: Andreas Jochum |
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* |
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* Set-up Wiki: http://copter.ardupilot.com/wiki/common-electro-permanent-magnet-gripper/ |
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*/ |
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/// @file AP_EPM.h |
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/// @brief AP_EPM control class |
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#ifndef __AP_EPM_h__ |
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#define __AP_EPM_h__ |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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#include <RC_Channel.h> |
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// EPM PWM definitions |
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#define EPM_GRAB_PWM_DEFAULT 1900 |
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#define EPM_RELEASE_PWM_DEFAULT 1100 |
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#define EPM_NEUTRAL_PWM_DEFAULT 1500 |
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#define EPM_RETURN_TO_NEUTRAL_MS 500 // EPM PWM returns to neutral position this many milliseconds after grab or release |
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#define EPM_REGRAB_DEFAULT 0 // default re-grab interval (in seconds) to ensure cargo is securely held |
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/// @class AP_EPM |
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/// @brief Class to manage the EPM_CargoGripper |
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class AP_EPM { |
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public: |
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AP_EPM(); |
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// initialise the EPM |
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void init(); |
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// enabled - true if the EPM is enabled |
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bool enabled() { return _enabled; } |
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// grab - move the EPM pwm output to the grab position |
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void grab(); |
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// release - move the EPM pwm output to the release position |
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void release(); |
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// update - moves the pwm back to neutral after the timeout has passed |
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// should be called at at least 10hz |
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void update(); |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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// neutral - return the EPM pwm output to the neutral position |
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void neutral(); |
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// EPM flags |
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struct EPM_Flags { |
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uint8_t grab : 1; // true if we think we have grabbed onto cargo, false if we think we've released it |
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uint8_t active : 1; // true if we are actively sending grab or release PWM to EPM to activate grabbing or releasing, false if we are sending neutral pwm |
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} _flags; |
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// parameters |
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AP_Int8 _enabled; // EPM enable/disable |
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AP_Int16 _grab_pwm; // PWM value sent to EPM to initiate grabbing the cargo |
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AP_Int16 _release_pwm; // PWM value sent to EPM to release the cargo |
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AP_Int16 _neutral_pwm; // PWM value sent to EPM when not grabbing or releasing |
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AP_Int8 _regrab_interval; // Time in seconds that gripper will regrab the cargo to ensure grip has not weakend |
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// internal variables |
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uint32_t _last_grab_or_release; |
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}; |
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#endif /* _AP_EPM_H_ */
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