mirror of https://github.com/ArduPilot/ardupilot
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
/*
|
|
* AP_EPM.h
|
|
*
|
|
* Created on: DEC 06, 2013
|
|
* Author: Andreas Jochum
|
|
* Pavel Kirienko <pavel.kirienko@zubax.com> - UAVCAN support
|
|
*
|
|
* Set-up Wiki: http://copter.ardupilot.org/wiki/common-electro-permanent-magnet-gripper/
|
|
* EPM docs: https://docs.zubax.com/opengrab_epm_v3
|
|
*/
|
|
|
|
/// @file AP_EPM.h
|
|
/// @brief AP_EPM control class
|
|
#pragma once
|
|
|
|
#include "AP_Gripper.h"
|
|
#include "AP_Gripper_Backend.h"
|
|
|
|
#include <RC_Channel/RC_Channel.h>
|
|
|
|
#define EPM_RETURN_TO_NEUTRAL_MS 500 // EPM PWM returns to neutral position this many milliseconds after grab or release
|
|
|
|
/// @class AP_Gripper_EPM
|
|
/// @brief Class to manage the EPM_CargoGripper
|
|
class AP_Gripper_EPM : public AP_Gripper_Backend {
|
|
public:
|
|
AP_Gripper_EPM(struct AP_Gripper::Backend_Config &_config);
|
|
|
|
// initialise the EPM
|
|
void init_gripper() override;
|
|
|
|
// grab - move the EPM pwm output to the grab position
|
|
void grab() override;
|
|
|
|
// release - move the EPM pwm output to the release position
|
|
void release() override;
|
|
|
|
// grabbed - returns true if gripper in grabbed state
|
|
bool grabbed() const override;
|
|
|
|
// released - returns true if gripper in released state
|
|
bool released() const override;
|
|
|
|
// update - moves the pwm back to neutral after the timeout has passed
|
|
// should be called at at least 10hz
|
|
void update_gripper() override;
|
|
|
|
private:
|
|
|
|
// neutral - return the EPM pwm output to the neutral position
|
|
void neutral();
|
|
|
|
bool should_use_uavcan() const { return _uavcan_fd >= 0; }
|
|
|
|
struct UAVCANCommand make_uavcan_command(uint16_t command) const;
|
|
|
|
// UAVCAN driver fd
|
|
int _uavcan_fd = -1;
|
|
|
|
// internal variables
|
|
uint32_t _last_grab_or_release;
|
|
};
|