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autotest: test EPM gripper

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Peter Barker 2023-01-17 20:19:57 +11:00 committed by Peter Barker
parent f429aae09e
commit 8e33476bfd
1 changed files with 6 additions and 1 deletions
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7
Tools/autotest/common.py
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@ -9985,12 +9985,17 @@ Also, ignores heartbeats not from our target system'''
def Gripper(self):
'''Test gripper'''
self.GripperType(1) # servo
self.GripperType(2) # EPM
def GripperType(self, gripper_type):
'''test specific gripper type'''
self.context_push()
self.set_parameters({
"GRIP_ENABLE": 1,
"GRIP_GRAB": 2000,
"GRIP_RELEASE": 1000,
"GRIP_TYPE": 1,
"GRIP_TYPE": gripper_type,
"SIM_GRPS_ENABLE": 1,
"SIM_GRPS_PIN": 8,
"SERVO8_FUNCTION": 28,