mirror of https://github.com/ArduPilot/ardupilot
106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
#pragma once
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#include "defines.h"
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#include "AP_Arming.h"
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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class AP_MotorsUGV {
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public:
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// Constructor
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AP_MotorsUGV(AP_ServoRelayEvents &relayEvents);
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enum pwm_type {
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PWM_TYPE_NORMAL = 0,
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PWM_TYPE_ONESHOT = 1,
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PWM_TYPE_ONESHOT125 = 2,
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PWM_TYPE_BRUSHED = 3,
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PWM_TYPE_BRUSHEDBIPOLAR = 4,
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};
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enum motor_test_order {
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MOTOR_TEST_THROTTLE = 1,
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MOTOR_TEST_STEERING = 2,
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MOTOR_TEST_THROTTLE_LEFT = 3,
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MOTOR_TEST_THROTTLE_RIGHT = 4,
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};
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// initialise motors
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void init();
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// setup output in case of main CPU failure
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void setup_safety_output();
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void setup_servo_output();
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// set steering as a value from -4500 to +4500
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float get_steering() const { return _steering; }
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void set_steering(float steering) { _steering = steering; }
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// get or set throttle as a value from 0 to 100
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float get_throttle() const { return _throttle; }
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void set_throttle(float throttle) { _throttle = throttle; }
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// true if vehicle is capable of skid steering
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bool have_skid_steering() const;
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// output to motors and steering servos
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void output(bool armed, float dt);
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// set when to use slew rate limiter
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void slew_limit_throttle(bool value) { _use_slew_rate = value; }
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// test steering or throttle output as a percentage of the total (range -100 to +100)
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// used in response to DO_MOTOR_TEST mavlink command
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bool output_test_pct(motor_test_order motor_seq, float pct);
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// test steering or throttle output using a pwm value
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bool output_test_pwm(motor_test_order motor_seq, float pwm);
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// structure for holding motor limit flags
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struct AP_MotorsUGV_limit {
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uint8_t steer_left : 1; // we have reached the steering controller's left most limit
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uint8_t steer_right : 1; // we have reached the steering controller's right most limit
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uint8_t throttle_lower : 1; // we have reached throttle's lower limit
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uint8_t throttle_upper : 1; // we have reached throttle's upper limit
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} limit;
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// setup pwm output type
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void setup_pwm_type();
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// output to regular steering and throttle channels
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void output_regular(bool armed, float steering, float throttle);
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// output to skid steering channels
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void output_skid_steering(bool armed, float steering, float throttle);
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// output throttle (-100 ~ +100) to a throttle channel. Sets relays if required
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void output_throttle(SRV_Channel::Aux_servo_function_t function, float throttle);
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// slew limit throttle for one iteration
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void slew_limit_throttle(float dt);
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// set limits based on steering and throttle input
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void set_limits_from_input(bool armed, float steering, float throttle);
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// external references
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AP_ServoRelayEvents &_relayEvents;
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// parameters
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AP_Int8 _pwm_type; // PWM output type
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AP_Int8 _pwm_freq; // PWM output freq for brushed motors
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AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed
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AP_Int8 _slew_rate; // slew rate expressed as a percentage / second
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// internal variables
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float _steering; // requested steering as a value from -4500 to +4500
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float _throttle; // requested throttle as a value from 0 to 100
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float _last_throttle;
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bool _use_slew_rate; // true if we should slew limit the throttle for one interation
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};
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