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AP_MotorsUGV: order methods in cpp file to match h 

non-functional change
master
Randy Mackay 7 years ago
parent
865fb91676
commit
bee8741b60
1 changed files with 122 additions and 122 deletions
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  1. 244
      APMrover2/AP_MotorsUGV.cpp

244
APMrover2/AP_MotorsUGV.cpp
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@ -206,6 +206,128 @@ void AP_MotorsUGV::output(bool armed, float dt) @@ -206,6 +206,128 @@ void AP_MotorsUGV::output(bool armed, float dt)
SRV_Channels::push();
}
// test steering or throttle output as a percentage of the total (range -100 to +100)
// used in response to DO_MOTOR_TEST mavlink command
bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
{
// check if the motor_seq is valid
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
pct = constrain_float(pct, -100.0f, 100.0f);
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
output_throttle(SRV_Channel::k_throttle, pct);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
output_throttle(SRV_Channel::k_throttleLeft, pct);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}
output_throttle(SRV_Channel::k_throttleRight, pct);
break;
}
default:
return false;
}
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
return true;
}
// test steering or throttle output using a pwm value
bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
{
// check if the motor_seq is valid
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm);
break;
}
default:
return false;
}
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
return true;
}
// setup pwm output type
void AP_MotorsUGV::setup_pwm_type()
{
switch (_pwm_type) {
case PWM_TYPE_ONESHOT:
case PWM_TYPE_ONESHOT125:
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
break;
case PWM_TYPE_BRUSHED_WITH_RELAY:
case PWM_TYPE_BRUSHED_BIPOLAR:
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
/*
* Group 0: channels 0 1
* Group 1: channels 4 5 6 7
* Group 2: channels 2 3
*/
// TODO : See if we can seperate frequency between groups
hal.rcout->set_freq((1UL << 0), static_cast<uint16_t>(_pwm_freq * 1000)); // Steering group
hal.rcout->set_freq((1UL << 2), static_cast<uint16_t>(_pwm_freq * 1000)); // Throttle group
break;
default:
// do nothing
break;
}
}
// output to regular steering and throttle channels
void AP_MotorsUGV::output_regular(bool armed, float steering, float throttle)
{
@ -365,125 +487,3 @@ void AP_MotorsUGV::set_limits_from_input(bool armed, float steering, float throt @@ -365,125 +487,3 @@ void AP_MotorsUGV::set_limits_from_input(bool armed, float steering, float throt
limit.throttle_lower = !armed || (throttle <= -_throttle_max);
limit.throttle_upper = !armed || (throttle >= _throttle_max);
}
// setup pwm output type
void AP_MotorsUGV::setup_pwm_type()
{
switch (_pwm_type) {
case PWM_TYPE_ONESHOT:
case PWM_TYPE_ONESHOT125:
// tell HAL to do immediate output
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
break;
case PWM_TYPE_BRUSHED_WITH_RELAY:
case PWM_TYPE_BRUSHED_BIPOLAR:
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
/*
* Group 0: channels 0 1
* Group 1: channels 4 5 6 7
* Group 2: channels 2 3
*/
// TODO : See if we can seperate frequency between groups
hal.rcout->set_freq((1UL << 0), static_cast<uint16_t>(_pwm_freq * 1000)); // Steering group
hal.rcout->set_freq((1UL << 2), static_cast<uint16_t>(_pwm_freq * 1000)); // Throttle group
break;
default:
// do nothing
break;
}
}
// test steering or throttle output as a percentage of the total (range -100 to +100)
// used in response to DO_MOTOR_TEST mavlink command
bool AP_MotorsUGV::output_test_pct(motor_test_order motor_seq, float pct)
{
// check if the motor_seq is valid
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
pct = constrain_float(pct, -100.0f, 100.0f);
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
output_throttle(SRV_Channel::k_throttle, pct);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, pct * 45.0f);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
output_throttle(SRV_Channel::k_throttleLeft, pct);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}
output_throttle(SRV_Channel::k_throttleRight, pct);
break;
}
default:
return false;
}
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
return true;
}
// test steering or throttle output using a pwm value
bool AP_MotorsUGV::output_test_pwm(motor_test_order motor_seq, float pwm)
{
// check if the motor_seq is valid
if (motor_seq > MOTOR_TEST_THROTTLE_RIGHT) {
return false;
}
switch (motor_seq) {
case MOTOR_TEST_THROTTLE: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttle)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, pwm);
break;
}
case MOTOR_TEST_STEERING: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_steering)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_steering, pwm);
break;
}
case MOTOR_TEST_THROTTLE_LEFT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, pwm);
break;
}
case MOTOR_TEST_THROTTLE_RIGHT: {
if (!SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
return false;
}
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, pwm);
break;
}
default:
return false;
}
SRV_Channels::calc_pwm();
SRV_Channels::cork();
SRV_Channels::output_ch_all();
SRV_Channels::push();
return true;
}

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