From 8e33476bfdc8e695ba057912e28d729e47903380 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 17 Jan 2023 20:19:57 +1100
Subject: [PATCH] autotest: test EPM gripper

---
 Tools/autotest/common.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 7cb1a9ec53..a2f7b78cdd 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -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,