/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #pragma once #include #include class AP_Gripper_Servo : public AP_Gripper_Backend { public: AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) : AP_Gripper_Backend(_config) { } // grab - move the servo to the grab position void grab() override; // release - move the servo output to the release position void release() override; // grabbed - returns true if gripper in grabbed state bool grabbed() const override; // released - returns true if gripper in released state bool released() const override; protected: // type-specific intiailisations: void init_gripper() override; // type-specific periodic updates: void update_gripper() override; private: uint32_t action_timestamp; // ms; time grab or release happened const uint16_t action_time = 3000; // ms; time to grab or release bool has_state_pwm(const uint16_t pwm) const; };