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22 lines
557 B
22 lines
557 B
#include "AP_Gripper_Backend.h" |
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#include <AP_Math/AP_Math.h> |
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extern const AP_HAL::HAL& hal; |
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void AP_Gripper_Backend::init() |
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{ |
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init_gripper(); |
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} |
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// update - should be called at at least 10hz |
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void AP_Gripper_Backend::update() |
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{ |
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update_gripper(); |
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// close the gripper again if autoclose_time > 0.0 |
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if (config.state == AP_Gripper::STATE_RELEASED && (_last_grab_or_release > 0) && |
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(is_positive(config.autoclose_time)) && |
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(AP_HAL::millis() - _last_grab_or_release > (config.autoclose_time * 1000.0))) { |
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grab(); |
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} |
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}
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