ardupilot/libraries/AP_Gripper/AP_Gripper.h

87 lines
2.6 KiB
C++

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