mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.6 KiB
C++
64 lines
1.6 KiB
C++
/*
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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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/*
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simple Gripper (Servo) simulation class
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*/
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#pragma once
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#include "SIM_Aircraft.h"
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namespace SITL {
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class Gripper_Servo {
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public:
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const uint8_t gripper_servo;
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Gripper_Servo(const uint8_t _gripper_servo) :
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gripper_servo(_gripper_servo)
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{}
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// update Gripper state
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void update(const struct Aircraft::sitl_input &input);
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float payload_mass() const; // kg
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void set_aircraft(Aircraft *_aircraft) { aircraft = _aircraft; }
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private:
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Aircraft *aircraft;
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const uint32_t report_interval = 1000000; // microseconds
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uint64_t last_report_us;
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const float gap = 30; // mm
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float position; // percentage
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float position_slew_rate = 35; // percentage
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float reported_position = -1; // unlikely
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uint64_t last_update_us;
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bool should_report();
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bool zero_report_done = false;
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// dangle load from a string:
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const float string_length = 2.0f; // metres
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float load_mass = 0.0f; // kilograms
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};
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}
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