Update grabber class based on new info from electrical/mech

Author: Aidan-B

Safety/AttitudeManager/Src/attitudeManagerInterface.cpp

@@ -3,14 +3,14 @@
 #include "attitudeManager.hpp"
 #include "PPM.hpp"
 #include "PWM.hpp"
+#include "grabber.hpp"
 
 attitudeManager *attMng;
 
 void AttitudeManagerInterfaceInit(void) {
     PPMChannel *ppm = new PPMChannel(MAX_PPM_CHANNELS);
     PWMChannel *pwm = new PWMChannel();
-    uint8_t grabberChannel = 5; //TODO: What channel?
-    Grabber *grabber = &Grabber::getInstance(grabberChannel);
+    Grabber *grabber = &Grabber::getInstance(4,5,6,7,pwm); //TODO: What output channel?
     attMng = new attitudeManager(ppm, pwm, grabber);
 }
 

Safety/AttitudeManager/Src/attitudeStateClasses.cpp

@@ -324,9 +324,9 @@ void PeripheralControlMode::execute(attitudeManager* attitudeMgr)
 {
     PPM_Instructions_t *teleopInstructions = fetchInstructionsMode::GetTeleopInstructions();
     if (teleopInstructions->PPMValues[attitudeMgr->grabber->ppmChannel] > 50)
-        attitudeMgr->grabber->close();
+        attitudeMgr->grabber->close(50);
     else 
-        attitudeMgr->grabber->open();
+        attitudeMgr->grabber->open(50);
     attitudeMgr->setState(fetchInstructionsMode::getInstance());
 }
 

Safety/Inc/grabber.hpp

@@ -7,29 +7,51 @@
 /* Includes ------------------------------------------------------------------*/
 
 #include "stm32f0xx.h"
+#include "PWM.hpp"
 // #include <stdint.h>
 // #include "../boardfiles/Inc/i2c.h"
 
 /* Exported functions prototypes ---------------------------------------------*/
 
 class Grabber {
 public:
-  static Grabber& getInstance(uint8_t GPIO_Channel);
+  static Grabber& getInstance(uint8_t grabber_pwm_channel_1,
+                              uint8_t grabber_pwm_channel_2,
+                              uint8_t crane_pwm_channel_1,
+                              uint8_t crane_pwm_channel_2,
+                              PWMChannel *pwm);
   Grabber(const Grabber*)=delete; 
 
-  void open();
-  void close();
+  void open(uint8_t speed);
+  void close(uint8_t speed);
 
-  uint8_t ppmChannel = 5; // TODO: What channel?
+  void crane_brake();
+  void crane_coast();
+  void lower(uint8_t speed);
+  void raise(uint8_t speed);
+
+  const uint8_t ppmChannel = 5; // TODO: What channel?
 
 private:
   Grabber() {};
-  Grabber(uint8_t GPIO_Channel);
-
-  GPIO_TypeDef *gpio = GPIOC; // TODO: Is this the right one?
+  Grabber(uint8_t grabber_pwm_channel_1,
+          uint8_t grabber_pwm_channel_2,
+          uint8_t crane_pwm_channel_1,
+          uint8_t crane_pwm_channel_2,
+          PWMChannel *pwm) : 
+    grabber_channel_1(grabber_pwm_channel_1),
+    grabber_channel_2(grabber_pwm_channel_2),
+    crane_channel_1(grabber_pwm_channel_1),
+    crane_channel_2(grabber_pwm_channel_2),
+    pwm(*pwm) {}
 
   bool isOpen = false;
-  uint8_t channel = 0;
+  bool isLowered = false;
+  const uint8_t grabber_channel_1 = 0;
+  const uint8_t grabber_channel_2 = 0;
+  const uint8_t crane_channel_1 = 0;
+  const uint8_t crane_channel_2 = 0;
+  PWMChannel pwm;
 };
 #endif /* GRABBER_HPP */
 

Safety/Src/grabber.cpp

@@ -11,33 +11,73 @@
 
 /* Public Methods  ---------------------------------------------------------*/
 
-Grabber& Grabber::getInstance(const uint8_t GPIO_Channel){
-  static Grabber singleton(GPIO_Channel); 
+Grabber& Grabber::getInstance(	uint8_t grabber_pwm_channel_1,
+								uint8_t grabber_pwm_channel_2,
+								uint8_t crane_pwm_channel_1,
+								uint8_t crane_pwm_channel_2,
+								PWMChannel *pwm) {
+  static Grabber singleton(	grabber_pwm_channel_1,
+							grabber_pwm_channel_2,
+							crane_pwm_channel_1,
+							crane_pwm_channel_2,
+							pwm); 
   return singleton; 
 }
 
-void Grabber::open() {
-	if (!this->isOpen) {
-		HAL_GPIO_WritePin(this->gpio, this->channel, GPIO_PIN_RESET);
+// Grabber lowering is controlled based on this table:
+// https://cdn-shop.adafruit.com/product-files/3190/drv8871.pdf
+// DRV8871 - Section 7.3.1
+// === H-Bridge Control ===
+// | IN1 | IN2 | OUT1   | OUT2   | DESCRIPTION
+// |-----|-----|--------|--------|-------------
+// |  0  |  0  | High-Z | High-Z | Coast; H-bridge disabled to High-Z (sleep entered after 1 ms)
+// |  0  |  1  | L      | H      | Reverse (Current OUT2 --> OUT1)
+// |  1  |  0  | H      | L      | Forward (Current OUT1 --> OUT2)
+// |  1  |  1  | L      | L      | Brake; low-side slow decay
+
+void Grabber::crane_brake() {
+	pwm.set(this->crane_channel_1, 100);
+	pwm.set(this->crane_channel_2, 100);
+}
+void Grabber::crane_coast() {
+	pwm.set(this->crane_channel_1, 0);
+	pwm.set(this->crane_channel_2, 0);
+}
+// obviously this is not instant, and we probably need a callback once the device
+// is finished lowering to set the motor into brake mode and update its state
+// Unfortunately I dont know what that will look like... It could very well be time based
+// need more details from Mech/Electrical
+void Grabber::lower(uint8_t speed) {
+	if (!this->isLowered) {
+		pwm.set(this->crane_channel_1, speed);
+		pwm.set(this->crane_channel_2, 0);
+		this->isLowered = true;
+	}
+}
+void Grabber::raise(uint8_t speed) {
+	if (this->isLowered) {
+		pwm.set(this->crane_channel_1, 0);
+		pwm.set(this->crane_channel_2, speed);
+		this->isLowered = false;
 	}
 }
 
-void Grabber::close() {
+
+//TODO: Still need data from electrical on the input to the motor driver, 
+//		hopefully it is similar to the above
+void Grabber::close(uint8_t speed) {
+	if (!this->isOpen) {
+		pwm.set(this->grabber_channel_1, speed);
+		pwm.set(this->grabber_channel_2, 0);
+		this->isOpen = true;
+	}
+}
+void Grabber::open(uint8_t speed) {
 	if (this->isOpen) {
-		HAL_GPIO_WritePin(this->gpio, this->channel, GPIO_PIN_SET);
+		pwm.set(this->grabber_channel_1, 0);
+		pwm.set(this->grabber_channel_2, speed);
+		this->isOpen = false;
 	}
 }
 
 /* Private methods  ---------------------------------------------------------*/
-Grabber::Grabber(uint8_t GPIO_Channel) {
-	this->channel = GPIO_Channel;
-	GPIO_InitTypeDef GPIO_InitStruct; //TODO: It might be better to init this in gpio.c. Also confirm these settings.
-	GPIO_InitStruct.Pin = this->channel;
-	GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-	GPIO_InitStruct.Pull = GPIO_NOPULL;
-	GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-	HAL_GPIO_Init(this->gpio, &GPIO_InitStruct);
-	HAL_GPIO_WritePin(this->gpio, this->channel, GPIO_PIN_RESET);
-
-};
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/