mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.3 KiB
C++
47 lines
1.3 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.h>
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class AP_Gripper_Backend {
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public:
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AP_Gripper_Backend(struct AP_Gripper::Backend_Config &_config) :
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config(_config) { }
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// initialise the gripper backend
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void init();
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// update - should be called at at least 10hz
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void update();
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// grab - move the servo to the grab position
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virtual void grab() = 0;
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// release - move the servo output to the release position
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virtual void release() = 0;
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// type-specific intiailisations:
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virtual void init_gripper() = 0;
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// type-specific periodic updates:
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virtual void update_gripper() { };
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protected:
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struct AP_Gripper::Backend_Config &config;
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};
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