AC_Sprayer Class Reference

Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm. More...

#include <AC_Sprayer.h>

Collaboration diagram for AC_Sprayer:

Classes
struct	sprayer_flags_type
	flag bitmask More...

Public Member Functions
	AC_Sprayer ()
	AC_Sprayer (const AC_Sprayer &other)=delete
AC_Sprayer &	operator= (const AC_Sprayer &)=delete
void	run (bool true_false)
	run - allow or disallow spraying to occur More...
bool	running () const
	running - returns true if spraying is currently permitted More...
bool	spraying () const
	spraying - returns true if spraying is actually happening More...
void	test_pump (bool true_false)
	test_pump - set to true to turn on pump as if travelling at 1m/s as a test More...
void	set_pump_rate (float pct_at_1ms)
	To-Do: add function to decode pilot input from channel 6 tuning knob. More...
void	update ()
	update - adjusts servo positions based on speed and requested quantity More...

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	stop_spraying ()

Private Attributes
AP_Int8	_enabled
	top level enable/disable control More...
AP_Float	_pump_pct_1ms
	desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s More...
AP_Int8	_pump_min_pct
	minimum pump rate (expressed as a percentage from 0 to 100) More...
AP_Int16	_spinner_pwm
	pwm rate of spinner More...
AP_Float	_speed_min
	minimum speed in cm/s above which the sprayer will be started More...
struct AC_Sprayer::sprayer_flags_type	_flags
uint32_t	_speed_over_min_time
	time at which we reached speed minimum More...
uint32_t	_speed_under_min_time
	time at which we fell below speed minimum More...

Detailed Description

Object managing a crop sprayer comprised of a spinner and a pump both controlled by pwm.

Definition at line 33 of file AC_Sprayer.h.

Constructor & Destructor Documentation

AC_Sprayer() [1/2]

AC_Sprayer::AC_Sprayer

(

)

Definition at line 51 of file AC_Sprayer.cpp.

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AC_Sprayer() [2/2]

AC_Sprayer::AC_Sprayer ( const AC_Sprayer &  other )

delete

Member Function Documentation

operator=()

AC_Sprayer& AC_Sprayer::operator= ( const AC_Sprayer &  )

delete

run()

void AC_Sprayer::run

(

bool

true_false

)

run - allow or disallow spraying to occur

Definition at line 66 of file AC_Sprayer.cpp.

Referenced by update().

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running()

bool AC_Sprayer::running ( ) const

inline

running - returns true if spraying is currently permitted

Definition at line 45 of file AC_Sprayer.h.

Referenced by update().

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set_pump_rate()

void AC_Sprayer::set_pump_rate ( float  pct_at_1ms )

inline

To-Do: add function to decode pilot input from channel 6 tuning knob.

set_pump_rate - sets desired quantity of spray when travelling at 1m/s as a percentage of the pumps maximum rate

Definition at line 56 of file AC_Sprayer.h.

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spraying()

bool AC_Sprayer::spraying ( ) const

inline

spraying - returns true if spraying is actually happening

Definition at line 48 of file AC_Sprayer.h.

stop_spraying()

void AC_Sprayer::stop_spraying ( )

private

Definition at line 83 of file AC_Sprayer.cpp.

Referenced by run(), and update().

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test_pump()

void AC_Sprayer::test_pump ( bool  true_false )

inline

test_pump - set to true to turn on pump as if travelling at 1m/s as a test

Definition at line 51 of file AC_Sprayer.h.

update()

void AC_Sprayer::update

(

)

update - adjusts servo positions based on speed and requested quantity

update - adjust pwm of servo controlling pump speed according to the desired quantity and our horizontal speed

Definition at line 92 of file AC_Sprayer.cpp.

Referenced by set_pump_rate().

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Member Data Documentation

_enabled

AP_Int8 AC_Sprayer::_enabled

private

top level enable/disable control

Definition at line 66 of file AC_Sprayer.h.

Referenced by run(), and update().

_flags

struct AC_Sprayer::sprayer_flags_type AC_Sprayer::_flags

private

Referenced by run(), running(), spraying(), stop_spraying(), test_pump(), and update().

_pump_min_pct

AP_Int8 AC_Sprayer::_pump_min_pct

private

minimum pump rate (expressed as a percentage from 0 to 100)

Definition at line 68 of file AC_Sprayer.h.

Referenced by update().

_pump_pct_1ms

AP_Float AC_Sprayer::_pump_pct_1ms

private

desired pump rate (expressed as a percentage of top rate) when travelling at 1m/s

Definition at line 67 of file AC_Sprayer.h.

Referenced by AC_Sprayer(), set_pump_rate(), and update().

_speed_min

AP_Float AC_Sprayer::_speed_min

private

minimum speed in cm/s above which the sprayer will be started

Definition at line 70 of file AC_Sprayer.h.

Referenced by update().

_speed_over_min_time

uint32_t AC_Sprayer::_speed_over_min_time

private

time at which we reached speed minimum

Definition at line 80 of file AC_Sprayer.h.

Referenced by update().

_speed_under_min_time

uint32_t AC_Sprayer::_speed_under_min_time

private

time at which we fell below speed minimum

Definition at line 81 of file AC_Sprayer.h.

Referenced by update().

_spinner_pwm

AP_Int16 AC_Sprayer::_spinner_pwm

private

pwm rate of spinner

Definition at line 69 of file AC_Sprayer.h.

Referenced by AC_Sprayer(), and update().

var_info

const AP_Param::GroupInfo AC_Sprayer::var_info

static

Definition at line 61 of file AC_Sprayer.h.

Referenced by AC_Sprayer().

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The documentation for this class was generated from the following files:

• libraries/AC_Sprayer/AC_Sprayer.h
• libraries/AC_Sprayer/AC_Sprayer.cpp