ardupilot/libraries/AP_Gripper/AP_Gripper_Backend.h

47 lines
1.3 KiB
C++

/*
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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Gripper/AP_Gripper.h>
class AP_Gripper_Backend {
public:
AP_Gripper_Backend(struct AP_Gripper::Backend_Config &_config) :
config(_config) { }
// initialise the gripper backend
void init();
// update - should be called at at least 10hz
void update();
// grab - move the servo to the grab position
virtual void grab() = 0;
// release - move the servo output to the release position
virtual void release() = 0;
// type-specific intiailisations:
virtual void init_gripper() = 0;
// type-specific periodic updates:
virtual void update_gripper() { };
protected:
struct AP_Gripper::Backend_Config &config;
};