ardupilot/libraries/SITL/SIM_Gripper_EPM.h

72 lines
2.0 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 (EPM) simulation class
*/
#pragma once
#include "stdint.h"
#include <AP_Param/AP_Param.h>
#include "SITL_Input.h"
namespace SITL {
class Gripper_EPM {
public:
Gripper_EPM() {
AP_Param::setup_object_defaults(this, var_info);
};
float payload_mass() const { return 0.0f; } // kg
// update field stength
void update(const struct sitl_input &input);
static const struct AP_Param::GroupInfo var_info[];
bool is_enabled() const {return static_cast<bool>(gripper_emp_enable);}
private:
AP_Int8 gripper_emp_enable; // enable gripper sim
AP_Int8 gripper_emp_servo_pin;
const uint32_t report_interval = 100000; // microseconds
uint64_t last_report_us;
bool servo_based = true;
float field_strength; // percentage
float reported_field_strength = -1; // unlikely
// I've a feeling these are probably a higher order than this:
const float field_strength_slew_rate = 400; // (percentage of delta between field strength and 100)/second
const float field_decay_rate = 2; // percent of field strength/second
const float field_degauss_rate = 300; // percent of field strength/second
uint64_t last_update_us;
bool should_report();
void update_from_demand();
void update_servobased(int16_t gripper_pwm);
float tesla();
float demand;
};
}