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84 lines
4.6 KiB
84 lines
4.6 KiB
/// @file AC_Sprayer.h |
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/// @brief Crop sprayer library |
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/** |
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The crop spraying functionality can be enabled in ArduCopter by doing the following: |
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- set CH7_OPT or CH8_OPT parameter to 15 to allow turning the sprayer on/off from one of these channels |
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- set RC10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10 |
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- set RC11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11 |
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- ensure the RC10_MIN, RC10_MAX, RC11_MIN, RC11_MAX accurately hold the min and maximum servo values you could possibly output to the pump and spinner |
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- set the SPRAY_SPINNER to the pwm value the spinner should spin at when on |
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- set the SPRAY_PUMP_RATE to the value the pump servo should move to when the vehicle is travelling 1m/s expressed as a percentage (i.e. 0 ~ 100) of the full servo range. I.e. 0 = the pump will not operate, 100 = maximum speed at 1m/s. 50 = 1/2 speed at 1m/s, full speed at 2m/s |
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- set the SPRAY_PUMP_MIN to the minimum value that the pump servo should move to while engaged expressed as a percentage (i.e. 0 ~ 100) of the full servo range |
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- set the SPRAY_SPEED_MIN to the minimum speed (in cm/s) the vehicle should be moving at before the pump and sprayer are turned on. 0 will mean the pump and spinner will always be on when the system is enabled with ch7/ch8 switch |
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**/ |
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#pragma once |
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#include <inttypes.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Math/AP_Math.h> |
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#include <SRV_Channel/SRV_Channel.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f ///< default quantity of spray per meter travelled |
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#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 ///< default minimum pump speed expressed as a percentage from 0 to 100 |
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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 AC_Sprayer |
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/// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm |
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class AC_Sprayer { |
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public: |
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AC_Sprayer(); |
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/* Do not allow copies */ |
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AC_Sprayer(const AC_Sprayer &other) = delete; |
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AC_Sprayer &operator=(const AC_Sprayer&) = delete; |
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/// run - allow or disallow spraying to occur |
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void run(bool true_false); |
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/// running - returns true if spraying is currently permitted |
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bool running() const { return _flags.running; } |
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/// spraying - returns true if spraying is actually happening |
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bool spraying() const { return _flags.spraying; } |
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/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test |
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void test_pump(bool true_false) { _flags.testing = true_false; } |
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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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// 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_Int8 _pump_min_pct; ///< minimum pump rate (expressed as a percentage from 0 to 100) |
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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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/// flag bitmask |
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struct sprayer_flags_type { |
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uint8_t spraying : 1; ///< 1 if we are currently spraying |
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uint8_t testing : 1; ///< 1 if we are testing the sprayer and should output a minimum value |
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uint8_t running : 1; ///< 1 if we are permitted to run sprayer |
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} _flags; |
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// internal variables |
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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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void stop_spraying(); |
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};
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