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68 lines
2.2 KiB
68 lines
2.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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simple Gripper (Servo) simulation class |
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*/ |
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#pragma once |
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#include "stdint.h" |
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#include <AP_Param/AP_Param.h> |
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#include "SITL_Input.h" |
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namespace SITL { |
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class Gripper_Servo { |
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public: |
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Gripper_Servo() { |
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AP_Param::setup_object_defaults(this, var_info); |
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}; |
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// update Gripper state |
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void update(const struct sitl_input &input); |
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float payload_mass() const; // kg |
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void set_alt(float alt) {altitude = alt;}; |
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static const struct AP_Param::GroupInfo var_info[]; |
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bool is_enabled() const {return static_cast<bool>(gripper_enable);} |
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bool is_jaw_open() const {return jaw_open;} |
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private: |
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static constexpr int16_t SIM_GRIPPER_GRAB_PWM_DEFAULT = 2000; |
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static constexpr int16_t SIM_GRIPPER_RELEASE_PWM_DEFAULT = 1000; |
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AP_Int8 gripper_enable; // enable gripper sim |
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AP_Int8 gripper_servo_pin; |
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AP_Int16 grab_pwm; // PWM value sent to Gripper to initiate grabbing the cargo |
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AP_Int16 release_pwm; // PWM value sent to Gripper to release the cargo |
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AP_Int8 reverse; // reverse closing direction |
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const uint32_t report_interval = 1000000; // microseconds |
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uint64_t last_report_us; |
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bool jaw_open = false; |
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const float gap = 30; // mm |
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float altitude; |
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float position; // percentage |
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float position_slew_rate = 35; // percentage |
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float reported_position = -1; // unlikely |
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uint64_t last_update_us; |
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bool should_report(); |
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// dangle load from a string: |
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const float string_length = 2.0f; // metres |
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float load_mass = 0.0f; // kilograms |
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}; |
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}
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