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55 lines
1.7 KiB
55 lines
1.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_Gripper/AP_Gripper_Backend.h> |
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#include <SRV_Channel/SRV_Channel.h> |
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#define SERVO_ACTUATION_TIME 500 // Time for servo to move to target position during grab or release in milliseconds |
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class AP_Gripper_Servo : public AP_Gripper_Backend { |
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public: |
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AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) : |
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AP_Gripper_Backend(_config) { } |
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// grab - move the servo to the grab position |
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void grab() override; |
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// release - move the servo output to the release position |
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void release() override; |
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// grabbed - returns true if gripper in grabbed state |
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bool grabbed() const override; |
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// released - returns true if gripper in released state |
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bool released() const override; |
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// valid - returns true if the backend should be working |
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bool valid() const override; |
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protected: |
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// type-specific intiailisations: |
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void init_gripper() override; |
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// type-specific periodic updates: |
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void update_gripper() override; |
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private: |
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bool has_state_pwm(const uint16_t pwm) const; |
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};
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