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AP_MotorsUGV: add BrushedPlus motor type

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BrushedPlus are brushed motors with separate throttle and steering pwm
inputs
This commit is contained in:
Pierre Kancir 2017-07-06 12:23:42 +09:00 committed by Randy Mackay
parent 76c9d3982a
commit 29c59644b7
2 changed files with 24 additions and 6 deletions
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21
APMrover2/AP_MotorsUGV.cpp
View File

@ -22,8 +22,8 @@ extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
// @Param: PWM_TYPE
// @DisplayName: Output PWM type
// @Description: This selects the output PWM type, allowing for normal PWM continuous output, OneShot or brushed motor output
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed
// @Description: This selects the output PWM type as regular PWM, OneShot, Brushed motor support using PWM (duty cycle) with separated direction signal, Brushed motor support with separate throttle and direction PWM (duty cyle)
// @Values: 0:Normal,1:OneShot,2:OneShot125,3:Brushed,4:BrushedPlus
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("PWM_TYPE", 1, AP_MotorsUGV, _pwm_type, PWM_TYPE_NORMAL),
@ -57,7 +57,8 @@ const AP_Param::GroupInfo AP_MotorsUGV::var_info[] = {
AP_GROUPEND
};
AP_MotorsUGV::AP_MotorsUGV()
AP_MotorsUGV::AP_MotorsUGV(AP_ServoRelayEvents &relayEvents) :
_relayEvents(relayEvents)
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -190,7 +191,14 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
motor_left += dir * steering_scaled;
}
}
if (_pwm_type == PWM_TYPE_BRUSHED) {
const bool dirLeft = is_positive(motor_left);
const bool dirRight = is_positive(motor_right);
_relayEvents.do_set_relay(0, dirLeft);
_relayEvents.do_set_relay(1, dirRight);
motor_left = fabsf(motor_left);
motor_right = fabsf(motor_right);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 1000.0f * motor_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 1000.0f * motor_right);
}
@ -217,6 +225,7 @@ void AP_MotorsUGV::setup_pwm_type()
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_ONESHOT);
break;
case PWM_TYPE_BRUSHED:
case PWM_TYPE_BRUSHEDPLUS:
hal.rcout->set_output_mode(AP_HAL::RCOutput::MODE_PWM_BRUSHED);
/*
* Group 0: channels 0 1
@ -242,6 +251,10 @@ void AP_MotorsUGV::setup_safety_output()
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
SRV_Channels::setup_failsafe_trim_all();
}
if (_pwm_type == PWM_TYPE_BRUSHEDPLUS) {
SRV_Channels::setup_failsafe_trim_all();
}
if (_disarm_disable_pwm) {
// throttle channels output zero pwm (i.e. no signal)
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);

9
APMrover2/AP_MotorsUGV.h
View File

@ -2,18 +2,20 @@
#include "defines.h"
#include "AP_Arming.h"
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
class AP_MotorsUGV {
public:
// Constructor
AP_MotorsUGV();
AP_MotorsUGV(AP_ServoRelayEvents &relayEvents);
enum pwm_type {
PWM_TYPE_NORMAL = 0,
PWM_TYPE_ONESHOT = 1,
PWM_TYPE_ONESHOT125 = 2,
PWM_TYPE_BRUSHED = 3
PWM_TYPE_BRUSHED = 3,
PWM_TYPE_BRUSHEDPLUS = 4,
};
// initialise motors
@ -56,6 +58,9 @@ protected:
// slew limit throttle for one iteration
void slew_limit_throttle(float dt);
// external references
AP_ServoRelayEvents &_relayEvents;
// parameters
AP_Int8 _pwm_type; // PWM output type
AP_Int8 _pwm_freq; // PWM output freq for brushed motors