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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
83 lines
2.9 KiB
C++
83 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#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 joint with a pneumatic piston.
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*
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* This plugin subscribes to a topic to get a signal. It accepts three
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* values:
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*
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* - 1: Apply the forward force to the joint.
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* - 0: Maintain last applied force
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* - -1: Apply the reverse force to the joint.
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*
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* Every physics update the joint's torque is set to reflect the
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* signal.
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*
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* To add a pneumatic piston to your robot, add the following XML to
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* your robot model:
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*
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* <plugin name="my_piston" filename="libgz_pneumatic_piston.so">
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* <joint>Joint Name</joint>
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* <topic>~/my/topic</topic>
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* <direction>{forward, reversed}</direction>
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* <forward-force>Number</forward-force>
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* <reverse-force>Number</reverse-force>
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* </plugin>
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*
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* - `joint`: Name of the joint this Dc motor is attached to.
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* - `topic`: Optional. Message type should be gazebo.msgs.Float64.
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* - `direction`: Optional. Defaults to forward. Reversed if the
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* piston pushes in the opposite direction of the joint
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* axis.
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* - `forward-force`: Force to apply in the forward direction.
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* - `reverse-force`: Force to apply in the reverse direction.
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*
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* \todo Signal should probably be made a tri-state message.
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*/
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class PneumaticPiston: public ModelPlugin {
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public:
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PneumaticPiston();
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~PneumaticPiston();
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/// \brief Load the pneumatic piston and configures it according to the sdf.
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Updat the force the piston applies on the joint.
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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 signal is one of: {-1,0,1}.
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double signal;
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/// \brief The magic force multipliers for each direction.
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double forward_force, reverse_force;
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/// \brief The joint that this pneumatic piston actuates.
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physics::JointPtr joint;
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/// \brief Callback for receiving msgs and updating the torque.
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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 Pointer to the world update function.
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transport::NodePtr node; ///< \brief The node we're advertising on.
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transport::SubscriberPtr sub; ///< \brief Subscriber handle.
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};
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