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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
67 lines
2.1 KiB
C++
67 lines
2.1 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 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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