ardupilot/libraries/SITL/SIM_Gripper_Servo.h

/*
   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();

    // dangle load from a string:
    const float string_length = 2.0f; // metres
    float load_mass = 0.0f; // kilograms
};

}