ardupilot/libraries/SITL/SIM_Gripper_Servo.h

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/*
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 "stdint.h"
#include <AP_Param/AP_Param.h>
#include "SITL_Input.h"
namespace SITL {
class Gripper_Servo {
public:
Gripper_Servo() {
AP_Param::setup_object_defaults(this, var_info);
};
// update Gripper state
void update(const struct sitl_input &input);
float payload_mass() const; // kg
void set_alt(float alt) {altitude = alt;};
static const struct AP_Param::GroupInfo var_info[];
bool is_enabled() const {return static_cast<bool>(gripper_enable);}
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bool is_jaw_open() const {return jaw_open;}
private:
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static constexpr int16_t SIM_GRIPPER_GRAB_PWM_DEFAULT = 2000;
static constexpr int16_t SIM_GRIPPER_RELEASE_PWM_DEFAULT = 1000;
AP_Int8 gripper_enable; // enable gripper sim
AP_Int8 gripper_servo_pin;
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AP_Int16 grab_pwm; // PWM value sent to Gripper to initiate grabbing the cargo
AP_Int16 release_pwm; // PWM value sent to Gripper to release the cargo
AP_Int8 reverse; // reverse closing direction
const uint32_t report_interval = 1000000; // microseconds
uint64_t last_report_us;
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bool jaw_open = false;
const float gap = 30; // mm
float altitude;
float position; // percentage
float position_slew_rate = 35; // percentage
float reported_position = -1; // unlikely
uint64_t last_update_us;
bool should_report() const;
// dangle load from a string:
const float string_length = 2.0f; // metres
float load_mass = 0.0f; // kilograms
};
}