mirror of
https://github.com/wpilibsuite/allwpilib
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29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
60 lines
1.7 KiB
C++
60 lines
1.7 KiB
C++
#pragma once
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#include "simulation/gz_msgs/msgs.h"
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#include <gazebo/gazebo.hh>
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using namespace gazebo;
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/**
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* \brief Plugin for controlling a servo.
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*
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* This plugin subscribes to a topic to get a signal in the range
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* [-1,1]. Every physics update the joint's torque is set as
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* multiplier*signal.
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*
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* To add a servo to your robot, add the following XML to your robot
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* model:
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*
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* <plugin name="my_servo" filename="libgz_servo.so">
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* <joint>Joint Name</joint>
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* <topic>/gzebo/frc/simulator/pwm/1</topic>
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* </plugin>
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*
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* - `link`: Name of the link the servo is attached to.
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* - `topic`: Optional. Message type should be gazebo.msgs.Float64.
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*/
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class Servo: public ModelPlugin {
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public:
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Servo();
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~Servo();
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/// \brief load the servo and configure it according to the sdf
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Update the torque on the joint from the dc motor each timestep.
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void Update(const common::UpdateInfo &info);
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private:
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/// \brief Topic to read control signal from.
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std::string topic;
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/// \brief the pwm signal limited to the range [-1,1]
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double signal;
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/// \brief the torque of the motor in kg/cm
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double torque;
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/// \brief the joint that this servo moves
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physics::JointPtr joint;
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/// \brief Callback for receiving msgs and storing the signal
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void Callback(const msgs::ConstFloat64Ptr &msg);
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physics::ModelPtr model; ///< \brief The model that this is attached to
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event::ConnectionPtr updateConn; ///< \brief The Pointer to the world update function
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transport::NodePtr node; ///< \brief The node we're advertising torque on
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transport::SubscriberPtr sub; ///< \brief the Subscriber for the pwm signal
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};
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