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