Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #pragma once
      17             : 
      18             : #include <AP_Gripper/AP_Gripper_Backend.h>
      19             : 
      20             : #if AP_GRIPPER_SERVO_ENABLED
      21             : 
      22             : #define SERVO_ACTUATION_TIME    500         // Time for servo to move to target position during grab or release in milliseconds
      23             : 
      24             : class AP_Gripper_Servo : public AP_Gripper_Backend {
      25             : public:
      26             : 
      27           6 :     AP_Gripper_Servo(struct AP_Gripper::Backend_Config &_config) :
      28           6 :         AP_Gripper_Backend(_config) { }
      29             : 
      30             :     // grab - move the servo to the grab position
      31             :     void grab() override;
      32             : 
      33             :     // release - move the servo output to the release position
      34             :     void release() override;
      35             : 
      36             :     // grabbed - returns true if gripper in grabbed state
      37             :     bool grabbed() const override;
      38             : 
      39             :     // released - returns true if gripper in released state
      40             :     bool released() const override;
      41             : 
      42             :     // valid - returns true if the backend should be working
      43             :     bool valid() const override;
      44             : 
      45             : protected:
      46             : 
      47             :     // type-specific initializations:
      48             :     void init_gripper() override;
      49             : 
      50             :     // type-specific periodic updates:
      51             :     void update_gripper() override;
      52             : 
      53             : private:
      54             : 
      55             :     bool has_state_pwm(const uint16_t pwm) const;
      56             : };
      57             : 
      58             : #endif  // AP_GRIPPER_SERVO_ENABLED