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86 lines
2.6 KiB
86 lines
2.6 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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#pragma once |
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#include <AP_Param/AP_Param.h> |
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class AP_Gripper_Backend; |
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class AP_Gripper { |
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public: |
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AP_Gripper(); |
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AP_Gripper(const AP_Gripper &other) = delete; |
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AP_Gripper &operator=(const AP_Gripper&) = delete; |
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static AP_Gripper *get_instance(); |
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static AP_Gripper *_s_instance; |
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// indicate whether this module is enabled or not |
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bool enabled() const { return _enabled; } |
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// initialise the gripper |
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void init(); |
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// grab - move the servo to the grab position |
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void grab(); |
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// release - move the servo output to the release position |
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void release(); |
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// released - returns true if currently in released position |
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bool released() const; |
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// grabbed - returns true if currently in grabbed position |
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bool grabbed() const; |
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// update - should be called at at least 10hz |
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void update(); |
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// valid - returns true if we have a gripper and it should work |
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bool valid() const; |
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static const struct AP_Param::GroupInfo var_info[]; |
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// parameters |
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AP_Int8 _enabled; // grabber enable/disable |
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typedef enum { |
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STATE_GRABBING, |
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STATE_RELEASING, |
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STATE_GRABBED, |
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STATE_RELEASED, |
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} gripper_state; |
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struct Backend_Config { |
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AP_Int8 type; // grabber type (e.g. EPM or servo) |
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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_Int16 neutral_pwm; // PWM value sent to gripper when not grabbing or releasing |
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AP_Int8 regrab_interval; // Time in seconds that gripper will regrab the cargo to ensure grip has not weakend |
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AP_Int16 uavcan_hardpoint_id; |
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gripper_state state = STATE_RELEASED; |
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} config; |
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private: |
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AP_Gripper_Backend *backend; |
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}; |
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namespace AP { |
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AP_Gripper *gripper(); |
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};
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