mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.6 KiB
C++
126 lines
3.6 KiB
C++
#include <AP_Gripper/AP_Gripper_Servo.h>
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#if AP_GRIPPER_SERVO_ENABLED
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <SRV_Channel/SRV_Channel.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#endif
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extern const AP_HAL::HAL& hal;
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void AP_Gripper_Servo::init_gripper()
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{
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// move the servo to the neutral position
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SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.neutral_pwm);
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}
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void AP_Gripper_Servo::grab()
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{
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// check if we are already grabbing
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if (config.state == AP_Gripper::STATE_GRABBING) {
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// do nothing
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return;
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}
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// check if we are already grabbed
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if (config.state == AP_Gripper::STATE_GRABBED) {
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// inform user that we are already grabbed
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed");
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return;
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}
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// flag we are active and grabbing cargo
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config.state = AP_Gripper::STATE_GRABBING;
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// move the servo to the grab position
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SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
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_last_grab_or_release = AP_HAL::millis();
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbing");
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LOGGER_WRITE_EVENT(LogEvent::GRIPPER_GRAB);
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}
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void AP_Gripper_Servo::release()
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{
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// check if we are already releasing
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if (config.state == AP_Gripper::STATE_RELEASING) {
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// do nothing
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return;
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}
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// check if we are already released
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if (config.state == AP_Gripper::STATE_RELEASED) {
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// inform user that we are already released
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load released");
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return;
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}
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// flag we are releasing cargo
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config.state = AP_Gripper::STATE_RELEASING;
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// move the servo to the release position
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SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
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_last_grab_or_release = AP_HAL::millis();
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load releasing");
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LOGGER_WRITE_EVENT(LogEvent::GRIPPER_RELEASE);
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}
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bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const
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{
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// return true if servo is in position represented by pwm
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uint16_t current_pwm;
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if (!SRV_Channels::get_output_pwm(SRV_Channel::k_gripper, current_pwm)) {
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// function not assigned to a channel, perhaps?
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return false;
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}
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if (current_pwm != pwm) {
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// last action did not set pwm to the current value
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// (e.g. last action was a grab not a release)
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return false;
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}
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if (AP_HAL::millis() - _last_grab_or_release < SERVO_ACTUATION_TIME) {
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// servo still moving....
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return false;
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}
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return true;
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}
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bool AP_Gripper_Servo::released() const
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{
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return (config.state == AP_Gripper::STATE_RELEASED);
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}
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bool AP_Gripper_Servo::grabbed() const
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{
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return (config.state == AP_Gripper::STATE_GRABBED);
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}
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// type-specific periodic updates:
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void AP_Gripper_Servo::update_gripper()
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{
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// Check for successful grabbed or released
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if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) {
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config.state = AP_Gripper::STATE_GRABBED;
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed");
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} else if (config.state == AP_Gripper::STATE_RELEASING && has_state_pwm(config.release_pwm)) {
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config.state = AP_Gripper::STATE_RELEASED;
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load released");
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}
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}
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bool AP_Gripper_Servo::valid() const
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{
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if (!AP_Gripper_Backend::valid()) {
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return false;
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}
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if (!SRV_Channels::function_assigned(SRV_Channel::k_gripper)) {
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return false;
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}
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return true;
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}
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#endif // AP_GRIPPER_SERVO_ENABLED
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