ardupilot/libraries/SITL/SIM_Gripper_Servo.cpp

109 lines
3.0 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/>.
*/
/*
simple Gripper (Servo) simulation class
*/
#include "SIM_Gripper_Servo.h"
#include "AP_HAL/AP_HAL.h"
#include "AP_Math/AP_Math.h"
#include <stdio.h>
using namespace SITL;
// table of user settable parameters
const AP_Param::GroupInfo Gripper_Servo::var_info[] = {
// @Param: ENABLE
// @DisplayName: Gripper servo Sim enable/disable
// @Description: Allows you to enable (1) or disable (0) the gripper servo simulation
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO("ENABLE", 0, Gripper_Servo, gripper_enable, 0),
// @Param: PIN
// @DisplayName: Gripper servo pin
// @Description: The pin number that the gripper servo is connected to. (start at 1)
// @Range: 0 15
// @User: Advanced
AP_GROUPINFO("PIN", 1, Gripper_Servo, gripper_servo_pin, -1),
AP_GROUPEND
};
/*
update gripper state
*/
void Gripper_Servo::update(const struct sitl_input &input)
{
const int16_t gripper_pwm = gripper_servo_pin >= 1 ? input.servos[gripper_servo_pin-1] : -1;
const uint64_t now = AP_HAL::micros64();
const float dt = (now - last_update_us) * 1.0e-6f;
// update gripper position
if (gripper_pwm < 0) {
last_update_us = now;
return;
}
float position_demand = (gripper_pwm - 1000) * 0.001f;
if (is_negative(position_demand)) { // never updated
position_demand = 0.0f;
}
const float position_max_change = position_slew_rate / 100.0f * dt;
position = constrain_float(position_demand, position - position_max_change, position + position_max_change);
const float jaw_gap = gap * (1.0f - position);
if (should_report()) {
::fprintf(stderr, "position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
last_report_us = now;
reported_position = position;
}
if (jaw_gap < 5) {
if (altitude <= 0.0f) {
load_mass = 1.0f; // attach the load
}
} else if (jaw_gap > 10) {
load_mass = 0.0f; // detach the load
}
last_update_us = now;
}
bool Gripper_Servo::should_report()
{
if (AP_HAL::micros64() - last_report_us < report_interval) {
return false;
}
if (reported_position != position) {
return true;
}
return false;
}
float Gripper_Servo::payload_mass() const
{
if (altitude < string_length) {
return 0.0f;
}
return load_mass;
}