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62 lines
2.6 KiB
62 lines
2.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/// @file AC_Sprayer.h |
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/// @brief Crop sprayer library |
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#ifndef AC_SPRAYER_H |
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#define AC_SPRAYER_H |
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#include <inttypes.h> |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <AP_Math.h> |
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#include <RC_Channel.h> |
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#include <AP_InertialNav.h> // Inertial Navigation library |
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 0 // default quantity of spray per meter travelled |
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#define AC_SPRAYER_DEFAULT_SPINNER_PWM 1300 // default speed of spinner (higher means spray is throw further horizontally |
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#define AC_SPRAYER_DEFAULT_SPEED_MIN 100 // we must be travelling at least 1m/s to begin spraying |
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#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 // delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump |
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#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 // shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump |
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/// @class Camera |
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/// @brief Object managing a Photo or video camera |
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class AC_Sprayer { |
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public: |
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/// Constructor |
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AC_Sprayer(AP_InertialNav* inav); |
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/// enable - allows sprayer to be enabled/disabled. Note: this does not update the eeprom saved value |
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void enable(bool true_false); |
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/// enabled - returns true if fence is enabled |
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bool enabled() const { return _enabled; } |
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/// To-Do: add function to decode pilot input from channel 6 tuning knob |
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/// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate |
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void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); } |
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/// update - adjusts servo positions based on speed and requested quantity |
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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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// pointers to other objects we depend upon |
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AP_InertialNav* _inav; |
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// parameters |
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AP_Int8 _enabled; // top level enable/disable control |
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AP_Float _pump_pct_1ms; // desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s |
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AP_Int16 _spinner_pwm; // pwm rate of spinner |
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AP_Float _speed_min; // minimum speed in cm/s above which the sprayer will be started |
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// internal variables |
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bool _spraying; // true if we are currently spraying |
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uint32_t _speed_over_min_time; // time at which we reached speed minimum |
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uint32_t _speed_under_min_time; // time at which we fell below speed minimum |
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}; |
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#endif /* AC_SPRAYER_H */
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