You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
63 lines
1.6 KiB
63 lines
1.6 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
/* |
|
simple Gripper (Servo) simulation class |
|
*/ |
|
|
|
#pragma once |
|
|
|
#include "SIM_Aircraft.h" |
|
|
|
namespace SITL { |
|
|
|
class Gripper_Servo { |
|
public: |
|
const uint8_t gripper_servo; |
|
|
|
Gripper_Servo(const uint8_t _gripper_servo) : |
|
gripper_servo(_gripper_servo) |
|
{} |
|
|
|
// update Gripper state |
|
void update(const struct Aircraft::sitl_input &input); |
|
|
|
float payload_mass() const; // kg |
|
|
|
void set_aircraft(Aircraft *_aircraft) { aircraft = _aircraft; } |
|
|
|
private: |
|
|
|
Aircraft *aircraft; |
|
|
|
const uint32_t report_interval = 1000000; // microseconds |
|
uint64_t last_report_us; |
|
|
|
const float gap = 30; // mm |
|
|
|
float position; // percentage |
|
float position_slew_rate = 35; // percentage |
|
float reported_position = -1; // unlikely |
|
|
|
uint64_t last_update_us; |
|
|
|
bool should_report(); |
|
bool zero_report_done = false; |
|
|
|
// dangle load from a string: |
|
const float string_length = 2.0f; // metres |
|
float load_mass = 0.0f; // kilograms |
|
}; |
|
|
|
}
|
|
|