mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.6 KiB
C++
87 lines
2.6 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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#pragma once
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#include <AP_Param/AP_Param.h>
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class AP_Gripper_Backend;
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class AP_Gripper {
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public:
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AP_Gripper();
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AP_Gripper(const AP_Gripper &other) = delete;
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AP_Gripper &operator=(const AP_Gripper&) = delete;
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static AP_Gripper *get_instance();
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static AP_Gripper *_s_instance;
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// indicate whether this module is enabled or not
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bool enabled() const { return _enabled; }
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// initialise the gripper
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void init();
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// grab - move the servo to the grab position
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void grab();
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// release - move the servo output to the release position
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void release();
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// released - returns true if currently in released position
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bool released() const;
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// grabbed - returns true if currently in grabbed position
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bool grabbed() const;
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// update - should be called at at least 10hz
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void update();
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// valid - returns true if we have a gripper and it should work
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bool valid() const;
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static const struct AP_Param::GroupInfo var_info[];
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// parameters
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AP_Int8 _enabled; // grabber enable/disable
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typedef enum {
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STATE_GRABBING,
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STATE_RELEASING,
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STATE_GRABBED,
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STATE_RELEASED,
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} gripper_state;
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struct Backend_Config {
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AP_Int8 type; // grabber type (e.g. EPM or servo)
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AP_Int16 grab_pwm; // PWM value sent to Gripper to initiate grabbing the cargo
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AP_Int16 release_pwm; // PWM value sent to Gripper to release the cargo
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AP_Int16 neutral_pwm; // PWM value sent to gripper when not grabbing or releasing
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AP_Int8 regrab_interval; // Time in seconds that gripper will regrab the cargo to ensure grip has not weakend
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AP_Int16 uavcan_hardpoint_id;
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gripper_state state = STATE_RELEASED;
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} config;
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private:
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AP_Gripper_Backend *backend;
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};
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namespace AP {
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AP_Gripper *gripper();
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};
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