mirror of https://github.com/ArduPilot/ardupilot
82 lines
2.1 KiB
C++
82 lines
2.1 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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#include "SIM_Gripper_Servo.h"
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#include <stdio.h>
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using namespace SITL;
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/*
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update gripper state
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*/
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void Gripper_Servo::update(const Aircraft::sitl_input &input)
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{
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const uint64_t now = AP_HAL::micros64();
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const float dt = (now - last_update_us) * 1.0e-6f;
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// update gripper position
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float position_demand = (input.servos[gripper_servo]-1000) * 0.001f;
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if (position_demand < 0) { // never updated
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position_demand = 0;
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}
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const float position_max_change = position_slew_rate/100.0f * dt;
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position = constrain_float(position_demand, position-position_max_change, position+position_max_change);
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const float jaw_gap = gap*(1.0f-position);
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if (should_report()) {
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::fprintf(stderr, "position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
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last_report_us = now;
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reported_position = position;
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}
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if (jaw_gap < 5) {
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if (aircraft->on_ground()) {
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load_mass = 1.0f; // attach the load
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}
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} else if (jaw_gap > 10) {
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load_mass = 0.0f; // detach the load
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}
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last_update_us = now;
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return;
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}
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bool Gripper_Servo::should_report()
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{
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if (AP_HAL::micros64() - last_report_us < report_interval) {
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return false;
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}
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if (reported_position != position) {
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return true;
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}
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return false;
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}
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float Gripper_Servo::payload_mass() const
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{
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if (aircraft->hagl() < string_length) {
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return 0.0f;
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}
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return load_mass;
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}
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