AP_Gripper_EPM Class Reference

Class to manage the EPM_CargoGripper. More...

#include <AP_Gripper_EPM.h>

Inheritance diagram for AP_Gripper_EPM:

Collaboration diagram for AP_Gripper_EPM:

Public Member Functions
	AP_Gripper_EPM (struct AP_Gripper::Backend_Config &_config)
void	init_gripper () override
void	grab () override
void	release () override
bool	grabbed () const override
bool	released () const override
void	update_gripper () override
Public Member Functions inherited from AP_Gripper_Backend
	AP_Gripper_Backend (struct AP_Gripper::Backend_Config &_config)
void	init ()
void	update ()
virtual bool	valid () const

Private Member Functions
void	neutral ()
bool	should_use_uavcan () const
struct UAVCANCommand	make_uavcan_command (uint16_t command) const

Private Attributes
int	_uavcan_fd = -1
uint32_t	_last_grab_or_release

Additional Inherited Members
Protected Attributes inherited from AP_Gripper_Backend
struct AP_Gripper::Backend_Config &	config

Detailed Description

Class to manage the EPM_CargoGripper.

Definition at line 25 of file AP_Gripper_EPM.h.

Constructor & Destructor Documentation

AP_Gripper_EPM()

AP_Gripper_EPM::AP_Gripper_EPM

(

struct AP_Gripper::Backend_Config &

_config

)

Definition at line 20 of file AP_Gripper_EPM.cpp.

Member Function Documentation

grab()

void AP_Gripper_EPM::grab ( )

overridevirtual

Implements AP_Gripper_Backend.

Definition at line 42 of file AP_Gripper_EPM.cpp.

Referenced by update_gripper().

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grabbed()

bool AP_Gripper_EPM::grabbed ( ) const

overridevirtual

Implements AP_Gripper_Backend.

Definition at line 133 of file AP_Gripper_EPM.cpp.

init_gripper()

void AP_Gripper_EPM::init_gripper ( )

overridevirtual

Implements AP_Gripper_Backend.

Definition at line 23 of file AP_Gripper_EPM.cpp.

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make_uavcan_command()

UAVCANCommand AP_Gripper_EPM::make_uavcan_command ( uint16_t  command ) const

private

Definition at line 117 of file AP_Gripper_EPM.cpp.

Referenced by grab(), and release().

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neutral()

void AP_Gripper_EPM::neutral ( )

private

Definition at line 86 of file AP_Gripper_EPM.cpp.

Referenced by init_gripper(), and update_gripper().

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release()

void AP_Gripper_EPM::release ( )

overridevirtual

Implements AP_Gripper_Backend.

Definition at line 64 of file AP_Gripper_EPM.cpp.

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released()

bool AP_Gripper_EPM::released ( ) const

overridevirtual

Implements AP_Gripper_Backend.

Definition at line 126 of file AP_Gripper_EPM.cpp.

should_use_uavcan()

bool AP_Gripper_EPM::should_use_uavcan ( ) const

inlineprivate

Definition at line 53 of file AP_Gripper_EPM.h.

Referenced by grab(), neutral(), and release().

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update_gripper()

void AP_Gripper_EPM::update_gripper ( )

overridevirtual

Reimplemented from AP_Gripper_Backend.

Definition at line 96 of file AP_Gripper_EPM.cpp.

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Member Data Documentation

_last_grab_or_release

uint32_t AP_Gripper_EPM::_last_grab_or_release

private

Definition at line 61 of file AP_Gripper_EPM.h.

Referenced by grab(), release(), and update_gripper().

_uavcan_fd

int AP_Gripper_EPM::_uavcan_fd = -1

private

Definition at line 58 of file AP_Gripper_EPM.h.

Referenced by grab(), init_gripper(), release(), and should_use_uavcan().

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The documentation for this class was generated from the following files:

• libraries/AP_Gripper/AP_Gripper_EPM.h
• libraries/AP_Gripper/AP_Gripper_EPM.cpp