mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.2 KiB
C++
69 lines
2.2 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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#pragma once
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#include "stdint.h"
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#include <AP_Param/AP_Param.h>
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#include "SITL_Input.h"
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namespace SITL {
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class Gripper_Servo {
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public:
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Gripper_Servo() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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// update Gripper state
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void update(const struct sitl_input &input);
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float payload_mass() const; // kg
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void set_alt(float alt) {altitude = alt;};
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static const struct AP_Param::GroupInfo var_info[];
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bool is_enabled() const {return static_cast<bool>(gripper_enable);}
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bool is_jaw_open() const {return jaw_open;}
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private:
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static constexpr int16_t SIM_GRIPPER_GRAB_PWM_DEFAULT = 2000;
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static constexpr int16_t SIM_GRIPPER_RELEASE_PWM_DEFAULT = 1000;
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AP_Int8 gripper_enable; // enable gripper sim
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AP_Int8 gripper_servo_pin;
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AP_Int16 grab_pwm; // PWM value sent to Gripper to initiate grabbing the cargo
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AP_Int16 release_pwm; // PWM value sent to Gripper to release the cargo
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AP_Int8 reverse; // reverse closing direction
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const uint32_t report_interval = 1000000; // microseconds
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uint64_t last_report_us;
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bool jaw_open = false;
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const float gap = 30; // mm
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float altitude;
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float position; // percentage
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float position_slew_rate = 35; // percentage
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float reported_position = -1; // unlikely
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uint64_t last_update_us;
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bool should_report() const;
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// dangle load from a string:
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const float string_length = 2.0f; // metres
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float load_mass = 0.0f; // kilograms
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};
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}
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