mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.8 KiB
C++
143 lines
3.8 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* AP_EPM.cpp
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*
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* Created on: DEC 6, 2013
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* Author: Andreas Jochum
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*/
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#include "AP_EPM.h"
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AP_EPM::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: EPM Enable/Disable
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// @Description: EPM enable/disable
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// @User: Standard
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// @Values: 0:Disabled, 1:Enabled
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AP_GROUPINFO("ENABLE", 0, AP_EPM, _enabled, 0),
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// @Param: GRAB
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// @DisplayName: EPM Grab PWM
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// @Description: PWM value sent to EPM to initiate grabbing the cargo
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// @User: Advanced
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// @Range: 1000 2000
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AP_GROUPINFO("GRAB", 1, AP_EPM, _grab_pwm, EPM_GRAB_PWM_DEFAULT),
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// @Param: RELEASE
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// @DisplayName: EPM Release PWM
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// @Description: PWM value sent to EPM to release the cargo
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// @User: Advanced
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// @Range: 1000 2000
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AP_GROUPINFO("RELEASE", 2, AP_EPM, _release_pwm, EPM_RELEASE_PWM_DEFAULT),
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// @Param: NEUTRAL
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// @DisplayName: EPM Neutral PWM
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// @Description: PWM value sent to EPM when not grabbing or releasing
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// @User: Advanced
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// @Range: 1000 2000
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AP_GROUPINFO("NEUTRAL", 3, AP_EPM, _neutral_pwm, EPM_NEUTRAL_PWM_DEFAULT),
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// @Param: REGRAB
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// @DisplayName: EPM Regrab interval
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// @Description: Time in seconds that gripper will regrab the cargo to ensure grip has not weakend
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// @User: Advanced
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// @Values: 0:Never, 15:every 15 seconds, 30:every 30 seconds, 60:once per minute
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AP_GROUPINFO("REGRAB", 4, AP_EPM, _regrab_interval, EPM_REGRAB_DEFAULT),
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AP_GROUPEND
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};
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AP_EPM::AP_EPM(void) :
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_last_grab_or_release(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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// initialise flags
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_flags.grab = false;
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_flags.active = false;
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}
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void AP_EPM::init()
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{
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// return immediately if not enabled
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if (!_enabled) {
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return;
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}
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// initialise the EPM to the neutral position
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neutral();
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}
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// grab - move the epm pwm output to the grab position
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void AP_EPM::grab()
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{
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// return immediately if not enabled
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if (!_enabled) {
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return;
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}
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// flag we are active and grabbing cargo
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_flags.grab = true;
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_flags.active = true;
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// capture time
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_last_grab_or_release = hal.scheduler->millis();
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// move the servo to the release position
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RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _grab_pwm);
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}
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// release - move the epm pwm output to the release position
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void AP_EPM::release()
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{
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// return immediately if not enabled
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if (!_enabled) {
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return;
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}
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// flag we are active and releasing cargo
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_flags.grab = false;
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_flags.active = true;
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// capture time
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_last_grab_or_release = hal.scheduler->millis();
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// move the servo to the release position
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RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _release_pwm);
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}
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// neutral - return the epm pwm output to the neutral position
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void AP_EPM::neutral()
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{
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// return immediately if not enabled
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if (!_enabled) {
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return;
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}
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// flag we are inactive (i.e. not grabbing or releasing cargo)
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_flags.active = false;
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// move the servo to the off position
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RC_Channel_aux::set_radio(RC_Channel_aux::k_epm, _neutral_pwm);
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}
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// update - moves the pwm back to neutral after the timeout has passed
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// should be called at at least 10hz
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void AP_EPM::update()
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{
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// move EPM PWM output back to neutral 2 seconds after the last grab or release
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if (_flags.active && (hal.scheduler->millis() - _last_grab_or_release > EPM_RETURN_TO_NEUTRAL_MS)) {
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neutral();
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}
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// re-grab the cargo intermittently
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if (_flags.grab && (_regrab_interval > 0) && (hal.scheduler->millis() - _last_grab_or_release > ((uint32_t)_regrab_interval * 1000))) {
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grab();
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}
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}
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