ardupilot/APMrover2/AP_MotorsUGV.h

143 lines
5.6 KiB
C++

#pragma once
#include "defines.h"
#include "AP_Arming.h"
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
class AP_MotorsUGV {
public:
// Constructor
AP_MotorsUGV(AP_ServoRelayEvents &relayEvents);
enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED_WITH_RELAY = 3,
PWM_TYPE_BRUSHED_BIPOLAR = 4,
};
enum motor_test_order {
MOTOR_TEST_THROTTLE = 1,
MOTOR_TEST_STEERING = 2,
MOTOR_TEST_THROTTLE_LEFT = 3,
MOTOR_TEST_THROTTLE_RIGHT = 4,
};
// initialise motors
void init();
// return true if motors are active
bool active() const;
// setup output in case of main CPU failure
void setup_safety_output();
// setup servo output ranges
void setup_servo_output();
// get or set steering as a value from -4500 to +4500
// apply_scaling should be set to false for manual modes where
// no scaling by speed or angle should e performed
float get_steering() const { return _steering; }
void set_steering(float steering, bool apply_scaling = true);
// get or set throttle as a value from -100 to 100
float get_throttle() const { return _throttle; }
void set_throttle(float throttle);
// set lateral input as a value from -100 to +100
void set_lateral(float lateral);
// get slew limited throttle
// used by manual mode to avoid bad steering behaviour during transitions from forward to reverse
// same as private slew_limit_throttle method (see below) but does not update throttle state
float get_slew_limited_throttle(float throttle, float dt) const;
// true if vehicle is capable of skid steering
bool have_skid_steering() const;
//true if vehicle is capable of lateral movement
bool has_lateral_control() const;
// true if vehicle has vectored thrust (i.e. boat with motor on steering servo)
bool have_vectored_thrust() const { return is_positive(_vector_throttle_base); }
// output to motors and steering servos
// ground_speed should be the vehicle's speed over the surface in m/s
// dt should be expected time between calls to this function
void output(bool armed, float ground_speed, float dt);
// test steering or throttle output as a percentage of the total (range -100 to +100)
// used in response to DO_MOTOR_TEST mavlink command
bool output_test_pct(motor_test_order motor_seq, float pct);
// test steering or throttle output using a pwm value
bool output_test_pwm(motor_test_order motor_seq, float pwm);
// returns true if checks pass, false if they fail. display_failure argument should be true to send text messages to GCS
bool pre_arm_check(bool report) const;
// structure for holding motor limit flags
struct AP_MotorsUGV_limit {
uint8_t steer_left : 1; // we have reached the steering controller's left most limit
uint8_t steer_right : 1; // we have reached the steering controller's right most limit
uint8_t throttle_lower : 1; // we have reached throttle's lower limit
uint8_t throttle_upper : 1; // we have reached throttle's upper limit
} limit;
// var_info for holding Parameter information
static const struct AP_Param::GroupInfo var_info[];
protected:
// sanity check parameters
void sanity_check_parameters();
// setup pwm output type
void setup_pwm_type();
// output to regular steering and throttle channels
void output_regular(bool armed, float ground_speed, float steering, float throttle);
// output for omni style frames
void output_omni(bool armed, float steering, float throttle, float lateral);
// output to skid steering channels
void output_skid_steering(bool armed, float steering, float throttle);
// output throttle (-100 ~ +100) to a throttle channel. Sets relays if required
void output_throttle(SRV_Channel::Aux_servo_function_t function, float throttle);
// slew limit throttle for one iteration
void slew_limit_throttle(float dt);
// set limits based on steering and throttle input
void set_limits_from_input(bool armed, float steering, float throttle);
// scale a throttle using the _thrust_curve_expo parameter. throttle should be in the range -100 to +100
float get_scaled_throttle(float throttle) const;
// external references
AP_ServoRelayEvents &_relayEvents;
// parameters
AP_Int8 _pwm_type; // PWM output type
AP_Int8 _pwm_freq; // PWM output freq for brushed motors
AP_Int8 _disarm_disable_pwm; // disable PWM output while disarmed
AP_Int16 _slew_rate; // slew rate expressed as a percentage / second
AP_Int8 _throttle_min; // throttle minimum percentage
AP_Int8 _throttle_max; // throttle maximum percentage
AP_Float _thrust_curve_expo; // thrust curve exponent from -1 to +1 with 0 being linear
AP_Float _vector_throttle_base; // throttle level above which steering is scaled down when using vector thrust. zero to disable vectored thrust
AP_Float _speed_scale_base; // speed above which steering is scaled down when using regular steering/throttle vehicles. zero to disable speed scaling
// internal variables
float _steering; // requested steering as a value from -4500 to +4500
float _throttle; // requested throttle as a value from -100 to 100
float _throttle_prev; // throttle input from previous iteration
bool _scale_steering = true; // true if we should scale steering by speed or angle
float _lateral; // requested lateral input as a value from -4500 to +4500
};