mirror of https://github.com/ArduPilot/ardupilot
93 lines
4.7 KiB
C++
93 lines
4.7 KiB
C++
/// @file AC_Sprayer.h
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/// @brief Crop sprayer library
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/**
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The crop spraying functionality can be enabled in ArduCopter by doing the following:
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- set RC7_OPTION or RC8_OPTION parameter to 15 to allow turning the sprayer on/off from one of these channels
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- set SERVO10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10
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- set SERVO11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11
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- ensure the RC10_MIN, RC10_MAX, RC11_MIN, RC11_MAX accurately hold the min and maximum servo values you could possibly output to the pump and spinner
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- set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
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- set the SPRAY_PUMP_RATE to the value the pump servo should move to when the vehicle is travelling at 1m/s. This is expressed as a percentage (i.e. 0 ~ 100) of the full servo range. I.e. 0 = the pump will not operate, 100 = maximum speed at 1m/s. 50 = 1/2 speed at 1m/s, full speed at 2m/s
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- set the SPRAY_PUMP_MIN to the minimum value that the pump servo should move to while engaged expressed as a percentage (i.e. 0 ~ 100) of the full servo range
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- set the SPRAY_SPEED_MIN to the minimum speed (in cm/s) the vehicle should be moving at before the pump and sprayer are turned on. 0 will mean the pump and spinner will always be on when the system is enabled with ch7/ch8 switch
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**/
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#pragma once
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#include "AC_Sprayer_config.h"
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#if HAL_SPRAYER_ENABLED
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#include <inttypes.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f ///< default quantity of spray per meter travelled
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#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 ///< default minimum pump speed expressed as a percentage from 0 to 100
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#define AC_SPRAYER_DEFAULT_SPINNER_PWM 1300 ///< default speed of spinner (higher means spray is throw further horizontally
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#define AC_SPRAYER_DEFAULT_SPEED_MIN 100 ///< we must be travelling at least 1m/s to begin spraying
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#define AC_SPRAYER_DEFAULT_TURN_ON_DELAY 100 ///< delay between when we reach the minimum speed and we begin spraying. This reduces the likelihood of constantly turning on/off the pump
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#define AC_SPRAYER_DEFAULT_SHUT_OFF_DELAY 1000 ///< shut-off delay in milli seconds. This reduces the likelihood of constantly turning on/off the pump
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/// @class AC_Sprayer
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/// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
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class AC_Sprayer {
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public:
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AC_Sprayer();
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/* Do not allow copies */
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CLASS_NO_COPY(AC_Sprayer);
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static AC_Sprayer *get_singleton();
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static AC_Sprayer *_singleton;
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/// run - allow or disallow spraying to occur
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void run(bool true_false);
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/// running - returns true if spraying is currently permitted
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bool running() const { return _flags.running; }
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/// spraying - returns true if spraying is actually happening
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bool spraying() const { return _flags.spraying; }
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/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
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void test_pump(bool true_false) { _flags.testing = true_false; }
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/// To-Do: add function to decode pilot input from channel 6 tuning knob
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/// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate
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void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); }
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/// update - adjusts servo positions based on speed and requested quantity
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void update();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Int8 _enabled; ///< top level enable/disable control
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AP_Float _pump_pct_1ms; ///< desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
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AP_Int8 _pump_min_pct; ///< minimum pump rate (expressed as a percentage from 0 to 100)
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AP_Int16 _spinner_pwm; ///< pwm rate of spinner
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AP_Float _speed_min; ///< minimum speed in cm/s above which the sprayer will be started
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/// flag bitmask
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struct sprayer_flags_type {
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uint8_t spraying : 1; ///< 1 if we are currently spraying
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uint8_t testing : 1; ///< 1 if we are testing the sprayer and should output a minimum value
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uint8_t running : 1; ///< 1 if we are permitted to run sprayer
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} _flags;
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// internal variables
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uint32_t _speed_over_min_time; ///< time at which we reached speed minimum
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uint32_t _speed_under_min_time; ///< time at which we fell below speed minimum
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void stop_spraying();
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};
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namespace AP {
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AC_Sprayer *sprayer();
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};
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#endif // HAL_SPRAYER_ENABLED
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