mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.0 KiB
C++
72 lines
2.0 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 (EPM) 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_EPM {
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public:
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Gripper_EPM() {
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AP_Param::setup_object_defaults(this, var_info);
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};
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float payload_mass() const { return 0.0f; } // kg
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// update field stength
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void update(const struct sitl_input &input);
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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_emp_enable);}
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private:
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AP_Int8 gripper_emp_enable; // enable gripper sim
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AP_Int8 gripper_emp_servo_pin;
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const uint32_t report_interval = 100000; // microseconds
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uint64_t last_report_us;
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bool servo_based = true;
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float field_strength; // percentage
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float reported_field_strength = -1; // unlikely
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// I've a feeling these are probably a higher order than this:
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const float field_strength_slew_rate = 400; // (percentage of delta between field strength and 100)/second
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const float field_decay_rate = 2; // percent of field strength/second
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const float field_degauss_rate = 300; // percent of field strength/second
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uint64_t last_update_us;
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bool should_report() const;
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void update_from_demand();
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void update_servobased(int16_t gripper_pwm);
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float tesla() const;
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float demand;
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};
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}
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