ardupilot/libraries/AP_Gripper/AP_Gripper_Servo.h

61 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_Backend.h>
#include <SRV_Channel/SRV_Channel.h>
class AP_Gripper_Servo : public AP_Gripper_Backend {
public:
AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) :
AP_Gripper_Backend(_config) { }
// grab - move the servo to the grab position
void grab() override;
// release - move the servo output to the release position
void release() override;
// grabbed - returns true if gripper in grabbed state
bool grabbed() const override;
// released - returns true if gripper in released state
bool released() const override;
// valid - returns true if the backend should be working
bool valid() const;
protected:
// type-specific intiailisations:
void init_gripper() override;
// type-specific periodic updates:
void update_gripper() override;
private:
uint32_t action_timestamp; // ms; time grab or release happened
const uint16_t action_time = 3000; // ms; time to grab or release
bool has_state_pwm(const uint16_t pwm) const;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
bool is_releasing;
bool is_released;
#endif
};