mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.8 KiB
C++
62 lines
1.8 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>
|
|
|
|
#if AP_GRIPPER_ENABLED
|
|
|
|
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;
|
|
|
|
// valid - returns true if the backend should be working
|
|
virtual bool valid() const { return true; };
|
|
|
|
// released - returns true if currently in released position
|
|
virtual bool released() const = 0;
|
|
|
|
// grabbed - returns true if currently in grabbed position
|
|
virtual bool grabbed() const = 0;
|
|
|
|
// type-specific intiailisations:
|
|
virtual void init_gripper() = 0;
|
|
|
|
// type-specific periodic updates:
|
|
virtual void update_gripper() { };
|
|
|
|
protected:
|
|
|
|
uint32_t _last_grab_or_release; // ms; time last grab or release happened
|
|
|
|
struct AP_Gripper::Backend_Config &config;
|
|
};
|
|
|
|
#endif // AP_GRIPPER_ENABLED
|