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AP_Gripper: a valid() method

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This commit is contained in:
Peter Barker 2016-11-18 18:52:15 +11:00
parent 4a1439ca0b
commit 0e2b3781ae
3 changed files with 7 additions and 0 deletions
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1
libraries/AP_Gripper/AP_Gripper.cpp
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@ -125,6 +125,7 @@ PASS_TO_BACKEND(update)
return false; \ return false; \
} }
PASS_TO_BACKEND(valid)
PASS_TO_BACKEND(released) PASS_TO_BACKEND(released)
PASS_TO_BACKEND(grabbed) PASS_TO_BACKEND(grabbed)

3
libraries/AP_Gripper/AP_Gripper.h
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@ -44,6 +44,9 @@ public:
// update - should be called at at least 10hz // update - should be called at at least 10hz
void update(); void update();
// valid - returns true if we have a gripper and it should work
bool valid() const;
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// parameters // parameters

3
libraries/AP_Gripper/AP_Gripper_Backend.h
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@ -34,6 +34,9 @@ public:
// release - move the servo output to the release position // release - move the servo output to the release position
virtual void release() = 0; virtual void release() = 0;
// valid - returns true if the backend should be working
bool valid() const { return true; };
// released - returns true if currently in released position // released - returns true if currently in released position
virtual bool released() const = 0; virtual bool released() const = 0;