Rover: walking_height input sent to motors
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@ -222,6 +222,12 @@ void AP_MotorsUGV::set_pitch(float pitch)
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_pitch = constrain_float(pitch, -1.0f, 1.0f);
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}
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// set walking_height input as a value from -1 to +1
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void AP_MotorsUGV::set_walking_height(float walking_height)
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{
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_walking_height = constrain_float(walking_height, -1.0f, 1.0f);
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}
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// set mainsail input as a value from 0 to 100
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void AP_MotorsUGV::set_mainsail(float mainsail)
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{
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@ -68,6 +68,10 @@ public:
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float get_pitch() const { return _pitch; }
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void set_pitch(float pitch);
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// get or set walking_height as a value from -1 to 1
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float get_walking_height() const { return _walking_height; }
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void set_walking_height(float walking_height);
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// get or set lateral input as a value from -100 to +100
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float get_lateral() const { return _lateral; }
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void set_lateral(float lateral);
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@ -192,6 +196,7 @@ protected:
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float _lateral; // requested lateral input as a value from -100 to +100
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float _roll; // requested roll as a value from -1 to +1
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float _pitch; // requested pitch as a value from -1 to +1
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float _walking_height; // requested height as a value from -1 to +1
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float _mainsail; // requested mainsail input as a value from 0 to 100
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float _wingsail; // requested wing sail input as a value in the range +- 100
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@ -191,6 +191,9 @@ bool Rover::get_control_output(AP_Vehicle::ControlOutput control_output, float &
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case AP_Vehicle::ControlOutput::Pitch:
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control_value = constrain_float(g2.motors.get_pitch(), -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Walking_Height:
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control_value = constrain_float(g2.motors.get_walking_height(), -1.0f, 1.0f);
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return true;
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case AP_Vehicle::ControlOutput::Throttle:
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control_value = constrain_float(g2.motors.get_throttle() / 100.0f, -1.0f, 1.0f);
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return true;
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@ -145,6 +145,7 @@ private:
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RC_Channel *channel_lateral;
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RC_Channel *channel_roll;
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RC_Channel *channel_pitch;
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RC_Channel *channel_walking_height;
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AP_Logger logger;
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@ -10,6 +10,7 @@ Mode::Mode() :
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channel_lateral(rover.channel_lateral),
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channel_roll(rover.channel_roll),
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channel_pitch(rover.channel_pitch),
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channel_walking_height(rover.channel_walking_height),
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attitude_control(rover.g2.attitude_control)
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{ }
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@ -189,6 +190,17 @@ void Mode::get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out)
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}
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}
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// decode pilot walking_height inputs and return in walking_height_out arguments
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// outputs are in the range -1 to +1
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void Mode::get_pilot_desired_walking_height(float &walking_height_out)
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{
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if (channel_walking_height != nullptr) {
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walking_height_out = channel_walking_height->norm_input();
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} else {
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walking_height_out = 0.0f;
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}
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}
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// return heading (in degrees) to target destination (aka waypoint)
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float Mode::wp_bearing() const
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{
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@ -157,6 +157,10 @@ protected:
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// outputs are in the range -1 to +1
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void get_pilot_desired_roll_and_pitch(float &roll_out, float &pitch_out);
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// decode pilot height inputs and return in height_out arguments
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// outputs are in the range -1 to +1
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void get_pilot_desired_walking_height(float &walking_height_out);
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// high level call to navigate to waypoint
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void navigate_to_waypoint();
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@ -203,6 +207,7 @@ protected:
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class RC_Channel *&channel_lateral;
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class RC_Channel *&channel_roll;
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class RC_Channel *&channel_pitch;
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class RC_Channel *&channel_walking_height;
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class AR_AttitudeControl &attitude_control;
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// private members for waypoint navigation
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@ -18,11 +18,13 @@ void ModeManual::update()
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rover.balancebot_pitch_control(desired_throttle);
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}
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// walking robots support roll and pitch
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float desired_roll, desired_pitch;
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// walking robots support roll, pitch and walking_height
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float desired_roll, desired_pitch, desired_walking_height;
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get_pilot_desired_roll_and_pitch(desired_roll, desired_pitch);
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get_pilot_desired_walking_height(desired_walking_height);
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g2.motors.set_roll(desired_roll);
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g2.motors.set_pitch(desired_pitch);
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g2.motors.set_walking_height(desired_walking_height);
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// set sailboat sails
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float desired_mainsail;
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@ -20,6 +20,7 @@ void Rover::set_control_channels(void)
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// walking robots rc input init
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channel_roll = rc().find_channel_for_option(RC_Channel::AUX_FUNC::ROLL);
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channel_pitch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::PITCH);
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channel_walking_height = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WALKING_HEIGHT);
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if (channel_roll != nullptr) {
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channel_roll->set_angle(SERVO_MAX);
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channel_roll->set_default_dead_zone(30);
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@ -28,6 +29,10 @@ void Rover::set_control_channels(void)
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channel_pitch->set_angle(SERVO_MAX);
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channel_pitch->set_default_dead_zone(30);
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}
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if (channel_walking_height != nullptr) {
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channel_walking_height->set_angle(SERVO_MAX);
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channel_walking_height->set_default_dead_zone(30);
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}
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// sailboat rc input init
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g2.sailboat.init_rc_in();
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@ -193,6 +193,7 @@ public:
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Lateral = 5,
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MainSail = 6,
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WingSail = 7,
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Walking_Height = 8,
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Last_ControlOutput // place new values before this
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};
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