ardupilot/libraries/AP_Gripper/AP_Gripper_Servo.cpp

69 lines
1.6 KiB
C++

#include <AP_Gripper/AP_Gripper_Servo.h>
extern const AP_HAL::HAL& hal;
void AP_Gripper_Servo::init_gripper()
{
// move the servo to the release position
release();
}
void AP_Gripper_Servo::grab()
{
// move the servo to the grab position
SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
action_timestamp = AP_HAL::millis();
}
void AP_Gripper_Servo::release()
{
// move the servo to the release position
SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
action_timestamp = AP_HAL::millis();
}
bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const
{
// return true if servo is in position represented by pwm
uint16_t current_pwm;
if (!SRV_Channels::get_output_pwm(SRV_Channel::k_gripper, current_pwm)) {
// function not assigned to a channel, perhaps?
return false;
}
if (current_pwm != pwm) {
// last action did not set pwm to the current value
// (e.g. last action was a grab not a release)
return false;
}
if (AP_HAL::millis() - action_timestamp < action_time) {
// servo still moving....
return false;
}
return true;
}
bool AP_Gripper_Servo::released() const
{
return has_state_pwm(config.release_pwm);
}
bool AP_Gripper_Servo::grabbed() const
{
return has_state_pwm(config.grab_pwm);
}
// type-specific periodic updates:
void AP_Gripper_Servo::update_gripper() { };
bool AP_Gripper_Servo::valid() const
{
if (!AP_Gripper_Backend::valid()) {
return false;
}
if (!SRV_Channels::function_assigned(SRV_Channel::k_gripper)) {
return false;
}
return true;
}