ardupilot/libraries/AC_Sprayer/AC_Sprayer.h

92 lines
4.8 KiB
C++

/// @file AC_Sprayer.h
/// @brief Crop sprayer library
/**
The crop spraying functionality can be enabled in ArduCopter by doing the following:
- set RC7_OPTION or RC8_OPTION parameter to 15 to allow turning the sprayer on/off from one of these channels
- set SERVO10_FUNCTION to 22 to enable the servo output controlling the pump speed on servo-out 10
- set SERVO11_FUNCTION to 23 to enable the servo output controlling the spinner on servo-out 11
- 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
- set the SPRAY_SPINNER to the pwm value the spinner should spin at when on
- set the SPRAY_PUMP_RATE to the value the pump servo should move to when the vehicle is travelling 1m/s 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
- 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
- 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
**/
#pragma once
#include <inttypes.h>
#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <SRV_Channel/SRV_Channel.h>
#include <AP_AHRS/AP_AHRS.h>
#define AC_SPRAYER_DEFAULT_PUMP_RATE 10.0f ///< default quantity of spray per meter travelled
#define AC_SPRAYER_DEFAULT_PUMP_MIN 0 ///< default minimum pump speed expressed as a percentage from 0 to 100
#define AC_SPRAYER_DEFAULT_SPINNER_PWM 1300 ///< default speed of spinner (higher means spray is throw further horizontally
#define AC_SPRAYER_DEFAULT_SPEED_MIN 100 ///< we must be travelling at least 1m/s to begin spraying
#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
#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
/// @class AC_Sprayer
/// @brief Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm
class AC_Sprayer {
public:
AC_Sprayer();
/* Do not allow copies */
AC_Sprayer(const AC_Sprayer &other) = delete;
AC_Sprayer &operator=(const AC_Sprayer&) = delete;
static AC_Sprayer *get_singleton();
static AC_Sprayer *_singleton;
/// run - allow or disallow spraying to occur
void run(bool true_false);
/// running - returns true if spraying is currently permitted
bool running() const { return _flags.running; }
/// spraying - returns true if spraying is actually happening
bool spraying() const { return _flags.spraying; }
/// test_pump - set to true to turn on pump as if travelling at 1m/s as a test
void test_pump(bool true_false) { _flags.testing = true_false; }
/// To-Do: add function to decode pilot input from channel 6 tuning knob
/// set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate
void set_pump_rate(float pct_at_1ms) { _pump_pct_1ms.set(pct_at_1ms); }
/// update - adjusts servo positions based on speed and requested quantity
void update();
static const struct AP_Param::GroupInfo var_info[];
private:
// parameters
AP_Int8 _enabled; ///< top level enable/disable control
AP_Float _pump_pct_1ms; ///< desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s
AP_Int8 _pump_min_pct; ///< minimum pump rate (expressed as a percentage from 0 to 100)
AP_Int16 _spinner_pwm; ///< pwm rate of spinner
AP_Float _speed_min; ///< minimum speed in cm/s above which the sprayer will be started
/// flag bitmask
struct sprayer_flags_type {
uint8_t spraying : 1; ///< 1 if we are currently spraying
uint8_t testing : 1; ///< 1 if we are testing the sprayer and should output a minimum value
uint8_t running : 1; ///< 1 if we are permitted to run sprayer
} _flags;
// internal variables
uint32_t _speed_over_min_time; ///< time at which we reached speed minimum
uint32_t _speed_under_min_time; ///< time at which we fell below speed minimum
void stop_spraying();
};
namespace AP {
AC_Sprayer *sprayer();
};