ardupilot/libraries/AP_EPM/AP_EPM.h

92 lines
3.0 KiB
C++

/*
* AP_EPM.h
*
* Created on: DEC 06, 2013
* Author: Andreas Jochum
* Pavel Kirienko <pavel.kirienko@zubax.com> - UAVCAN support
*
* Set-up Wiki: http://copter.ardupilot.org/wiki/common-electro-permanent-magnet-gripper/
* EPM docs: https://docs.zubax.com/opengrab_epm_v3
*/
/// @file AP_EPM.h
/// @brief AP_EPM control class
#pragma once
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <RC_Channel/RC_Channel.h>
// EPM PWM definitions
#define EPM_GRAB_PWM_DEFAULT 1900
#define EPM_RELEASE_PWM_DEFAULT 1100
#define EPM_NEUTRAL_PWM_DEFAULT 1500
#define EPM_RETURN_TO_NEUTRAL_MS 500 // EPM PWM returns to neutral position this many milliseconds after grab or release
#define EPM_REGRAB_DEFAULT 0 // default re-grab interval (in seconds) to ensure cargo is securely held
/// @class AP_EPM
/// @brief Class to manage the EPM_CargoGripper
class AP_EPM {
public:
AP_EPM();
// initialise the EPM
void init();
// enabled - true if the EPM is enabled
bool enabled() { return _enabled; }
// grab - move the EPM pwm output to the grab position
void grab();
// release - move the EPM pwm output to the release position
void release();
// update - moves the pwm back to neutral after the timeout has passed
// should be called at at least 10hz
void update();
static const struct AP_Param::GroupInfo var_info[];
private:
// neutral - return the EPM pwm output to the neutral position
void neutral();
bool should_use_uavcan() const { return _uavcan_fd >= 0; }
// Refer to http://uavcan.org/Specification/7._List_of_standard_data_types/#uavcanequipmenthardpoint
struct UAVCANCommand {
uint8_t hardpoint_id = 0;
uint16_t command = 0;
};
UAVCANCommand make_uavcan_command(uint16_t command) const
{
UAVCANCommand cmd;
cmd.hardpoint_id = _uavcan_hardpoint_id;
cmd.command = command;
return cmd;
}
// EPM flags
struct EPM_Flags {
uint8_t grab : 1; // true if we think we have grabbed onto cargo, false if we think we've released it
uint8_t active : 1; // true if we are actively sending grab or release PWM to EPM to activate grabbing or releasing, false if we are sending neutral pwm
} _flags;
// UAVCAN driver fd
int _uavcan_fd = -1;
// parameters
AP_Int8 _enabled; // EPM enable/disable
AP_Int16 _grab_pwm; // PWM value sent to EPM to initiate grabbing the cargo
AP_Int16 _release_pwm; // PWM value sent to EPM to release the cargo
AP_Int16 _neutral_pwm; // PWM value sent to EPM 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;
// internal variables
uint32_t _last_grab_or_release;
};