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AP_Gripper: add parameter unit and remove print on grab or release

This commit is contained in:
Randy Mackay 2016-11-05 10:36:06 +09:00
parent d9cbcd9487
commit 039d12bd55
2 changed files with 1 additions and 2 deletions
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1
libraries/AP_Gripper/AP_Gripper.cpp
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@ -52,6 +52,7 @@ const AP_Param::GroupInfo AP_Gripper::var_info[] = {
// @Description: Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
// @User: Advanced
// @Values: 0 255
// @Units: seconds
AP_GROUPINFO("REGRAB", 5, AP_Gripper, config.regrab_interval, GRIPPER_REGRAB_DEFAULT),
// @Param: UAVCAN_ID

2
libraries/AP_Gripper/AP_Gripper_EPM.cpp
View File

@ -48,7 +48,6 @@ void AP_Gripper_EPM::grab()
#ifdef UAVCAN_IOCS_HARDPOINT_SET
if (should_use_uavcan()) {
::printf("EPM: UAVCAN GRAB\n");
const UAVCANCommand cmd = make_uavcan_command(1);
(void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast<unsigned long>(&cmd));
}
@ -71,7 +70,6 @@ void AP_Gripper_EPM::release()
#ifdef UAVCAN_IOCS_HARDPOINT_SET
if (should_use_uavcan()) {
::printf("EPM: UAVCAN RELEASE\n");
const UAVCANCommand cmd = make_uavcan_command(0);
(void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast<unsigned long>(&cmd));
}