mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.2 KiB
C++
140 lines
4.2 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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#include "SIM_Gripper_Servo.h"
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#include "AP_HAL/AP_HAL.h"
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#include "AP_Math/AP_Math.h"
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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using namespace SITL;
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// table of user settable parameters
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const AP_Param::GroupInfo Gripper_Servo::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Gripper servo Sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the gripper servo simulation
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, Gripper_Servo, gripper_enable, 0),
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// @Param: PIN
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// @DisplayName: Gripper servo pin
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// @Description: The pin number that the gripper servo is connected to. (start at 1)
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// @Range: 0 15
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// @User: Advanced
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AP_GROUPINFO("PIN", 1, Gripper_Servo, gripper_servo_pin, -1),
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// @Param: GRAB
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// @DisplayName: Gripper Grab PWM
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// @Description: PWM value in microseconds sent to Gripper to initiate grabbing the cargo
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// @User: Advanced
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// @Range: 1000 2000
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// @Units: PWM
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AP_GROUPINFO("GRAB", 2, Gripper_Servo, grab_pwm, SIM_GRIPPER_GRAB_PWM_DEFAULT),
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// @Param: RELEASE
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// @DisplayName: Gripper Release PWM
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// @Description: PWM value in microseconds sent to Gripper to release the cargo
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// @User: Advanced
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// @Range: 1000 2000
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// @Units: PWM
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AP_GROUPINFO("RELEASE", 3, Gripper_Servo, release_pwm, SIM_GRIPPER_RELEASE_PWM_DEFAULT),
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// @Param: REVERSE
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// @DisplayName: Gripper close direction
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// @Description: Reverse the closing direction.
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// @User: Advanced
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// @Values: 0:Normal,1:Reverse
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AP_GROUPINFO("REVERSE", 4, Gripper_Servo, reverse, 0),
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AP_GROUPEND
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};
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/*
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update gripper state
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*/
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void Gripper_Servo::update(const struct sitl_input &input)
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{
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const int16_t gripper_pwm = gripper_servo_pin >= 1 ? input.servos[gripper_servo_pin-1] : -1;
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const uint64_t now = AP_HAL::micros64();
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const float dt = (now - last_update_us) * 1.0e-6f;
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// update gripper position
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if (gripper_pwm < 0) {
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last_update_us = now;
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return;
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}
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const int16_t diff_pwm = abs(grab_pwm - release_pwm);
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float position_demand = (gripper_pwm - diff_pwm) * 0.001f;
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if (gripper_pwm < MIN(grab_pwm, release_pwm) || position_demand > 1.0f) { // never updated
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position_demand = position;
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}
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const float position_max_change = position_slew_rate / 100.0f * dt;
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position = constrain_float(position_demand, position - position_max_change, position + position_max_change);
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float jaw_gap;
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if ((release_pwm < grab_pwm && reverse) || (release_pwm > grab_pwm && !reverse)) {
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jaw_gap = gap * position;
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} else {
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jaw_gap = gap * (1.0f - position);
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}
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if (should_report()) {
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hal.console->printf("position_demand=%f jaw_gap=%f load=%f\n", position_demand, jaw_gap, load_mass);
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last_report_us = now;
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reported_position = position;
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}
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if (jaw_gap < 5) {
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if (altitude <= 0.0f) {
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load_mass = 1.0f; // attach the load
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jaw_open = false;
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}
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} else if (jaw_gap > 10) {
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load_mass = 0.0f; // detach the load
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jaw_open = true;
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}
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last_update_us = now;
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}
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bool Gripper_Servo::should_report() const
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{
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if (AP_HAL::micros64() - last_report_us < report_interval) {
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return false;
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}
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if (!is_equal(reported_position, position)) {
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return true;
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}
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return false;
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}
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float Gripper_Servo::payload_mass() const
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{
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if (altitude < string_length) {
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return 0.0f;
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}
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return load_mass;
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}
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