mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
/*
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* AP_EPM.h
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*
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* Created on: DEC 06, 2013
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* Author: Andreas Jochum
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* Pavel Kirienko <pavel.kirienko@zubax.com> - UAVCAN support
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*
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* Set-up Wiki: https://copter.ardupilot.org/wiki/common-electro-permanent-magnet-gripper/
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* EPM docs: https://docs.zubax.com/opengrab_epm_v3
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*/
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/// @file AP_EPM.h
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/// @brief AP_EPM control class
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#pragma once
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#include "AP_Gripper.h"
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#include "AP_Gripper_Backend.h"
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#include <SRV_Channel/SRV_Channel.h>
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#define EPM_RETURN_TO_NEUTRAL_MS 500 // EPM PWM returns to neutral position this many milliseconds after grab or release
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/// @class AP_Gripper_EPM
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/// @brief Class to manage the EPM_CargoGripper
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class AP_Gripper_EPM : public AP_Gripper_Backend {
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public:
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AP_Gripper_EPM(struct AP_Gripper::Backend_Config &_config);
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// initialise the EPM
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void init_gripper() override;
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// grab - move the EPM pwm output to the grab position
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void grab() override;
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// release - move the EPM pwm output to the release position
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void release() override;
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// grabbed - returns true if gripper in grabbed state
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bool grabbed() const override;
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// released - returns true if gripper in released state
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bool released() const override;
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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 update_gripper() override;
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private:
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// neutral - return the EPM pwm output to the neutral position
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void neutral();
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bool should_use_uavcan() const { return _uavcan_fd >= 0; }
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struct UAVCANCommand make_uavcan_command(uint16_t command) const;
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// UAVCAN driver fd
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int _uavcan_fd = -1;
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};
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