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32 lines
853 B
32 lines
853 B
#include "AP_Mission.h" |
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#include <GCS_MAVLink/GCS.h> |
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#include <AP_Gripper/AP_Gripper.h> |
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bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd) |
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{ |
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AP_Gripper *gripper = AP::gripper(); |
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if (gripper == nullptr) { |
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return true; |
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} |
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// Note: we ignore the gripper num parameter because we only |
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// support one gripper |
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switch (cmd.content.gripper.action) { |
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case GRIPPER_ACTION_RELEASE: |
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gripper->release(); |
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// Log_Write_Event(DATA_GRIPPER_RELEASE); |
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released"); |
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break; |
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case GRIPPER_ACTION_GRAB: |
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gripper->grab(); |
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// Log_Write_Event(DATA_GRIPPER_GRAB); |
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed"); |
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break; |
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default: |
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// do nothing |
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break; |
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} |
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return true; |
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}
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