AP_Gripper: use new SRV_Channels API

libraries/AP_Gripper/AP_Gripper_EPM.cpp

@@ -55,7 +55,7 @@ void AP_Gripper_EPM::grab()
 #endif
     {
         // move the servo output to the grab position
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.grab_pwm);
+        SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
     }
 }
 
@@ -77,7 +77,7 @@ void AP_Gripper_EPM::release()
 #endif
     {
         // move the servo to the release position
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+        SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
     }
 }
 
@@ -86,7 +86,7 @@ void AP_Gripper_EPM::neutral()
 {
     if (!should_use_uavcan()) {
         // move the servo to the off position
-        RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.neutral_pwm);
+        SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.neutral_pwm);
     }
 }
 

libraries/AP_Gripper/AP_Gripper_EPM.h

@@ -16,7 +16,7 @@
 #include "AP_Gripper.h"
 #include "AP_Gripper_Backend.h"
 
-#include <RC_Channel/RC_Channel.h>
+#include <SRV_Channel/SRV_Channel.h>
 
 #define EPM_RETURN_TO_NEUTRAL_MS    500         // EPM PWM returns to neutral position this many milliseconds after grab or release
 

libraries/AP_Gripper/AP_Gripper_Servo.cpp

@@ -11,22 +11,22 @@ void AP_Gripper_Servo::init_gripper()
 void AP_Gripper_Servo::grab()
 {
     // move the servo to the grab position
-    RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.grab_pwm);
+    SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
     action_timestamp = AP_HAL::millis();
 }
 
 void AP_Gripper_Servo::release()
 {
     // move the servo to the release position
-    RC_Channel_aux::set_radio(RC_Channel_aux::k_gripper, config.release_pwm);
+    SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
     action_timestamp = AP_HAL::millis();
 }
 
 bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const
 {
     // return true if servo is in position represented by pwm
-    int16_t current_pwm;
-    if (!RC_Channel_aux::get_radio(RC_Channel_aux::k_gripper, current_pwm)) {
+    uint16_t current_pwm;
+    if (!SRV_Channels::get_output_pwm(SRV_Channel::k_gripper, current_pwm)) {
         // function not assigned to a channel, perhaps?
         return false;
     }
@@ -61,7 +61,7 @@ bool AP_Gripper_Servo::valid() const
     if (!AP_Gripper_Backend::valid()) {
         return false;
     }
-    if (!RC_Channel_aux::function_assigned(RC_Channel_aux::k_gripper)) {
+    if (!SRV_Channels::function_assigned(SRV_Channel::k_gripper)) {
         return false;
     }
     return true;

libraries/AP_Gripper/AP_Gripper_Servo.h

@@ -16,7 +16,7 @@
 #pragma once
 
 #include <AP_Gripper/AP_Gripper_Backend.h>
-#include <RC_Channel/RC_Channel.h>
+#include <SRV_Channel/SRV_Channel.h>
 
 class AP_Gripper_Servo : public AP_Gripper_Backend {
 public: