mirror of https://github.com/ArduPilot/ardupilot
26 lines
581 B
C++
26 lines
581 B
C++
#include "AP_Gripper_Backend.h"
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#if AP_GRIPPER_ENABLED
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#include <AP_Math/AP_Math.h>
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void AP_Gripper_Backend::init()
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{
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init_gripper();
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}
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// update - should be called at at least 10hz
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void AP_Gripper_Backend::update()
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{
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update_gripper();
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// close the gripper again if autoclose_time > 0.0
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if (config.state == AP_Gripper::STATE_RELEASED && (_last_grab_or_release > 0) &&
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(is_positive(config.autoclose_time)) &&
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(AP_HAL::millis() - _last_grab_or_release > (config.autoclose_time * 1000.0))) {
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grab();
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}
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}
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#endif // AP_GRIPPER_ENABLED
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