ardupilot/libraries/SITL/SIM_Gripper_Servo.h

63 lines
1.6 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
*/
#pragma once
#include "SIM_Aircraft.h"
namespace SITL {
class Gripper_Servo {
public:
const uint8_t gripper_servo;
Gripper_Servo(const uint8_t _gripper_servo) :
gripper_servo(_gripper_servo)
{}
// update Gripper state
void update(const struct Aircraft::sitl_input &input);
float payload_mass() const; // kg
void set_aircraft(Aircraft *_aircraft) { aircraft = _aircraft; }
private:
Aircraft *aircraft;
const uint32_t report_interval = 1000000; // microseconds
uint64_t last_report_us;
const float gap = 30; // mm
float position; // percentage
float position_slew_rate = 35; // percentage
float reported_position = -1; // unlikely
uint64_t last_update_us;
bool should_report();
// dangle load from a string:
const float string_length = 2.0f; // metres
float load_mass = 0.0f; // kilograms
};
}