AP_Scripting: add gripper bindings

ArduPilot · Jun 27, 2024 · cf80acb · cf80acb
1 parent 6d77ab6
commit cf80acb
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diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
@@ -1317,6 +1317,19 @@ function winch:relax() end
 ---@return boolean
 function winch:healthy() end
 
+-- desc gripper object
+gripper = {}
+
+-- desc move the gripper to the grab position
+function gripper:grab() end
+
+-- desc move the gripper to the release position
+function gripper:release() end
+
+-- desc returns true if gripper is currently in the released position
+---@return boolean
+function gripper:released() end
+
 -- desc
 iomcu = {}
 

diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -789,6 +789,13 @@ singleton AP_Winch method release_length void float'skip_check
 singleton AP_Winch method set_desired_rate void float'skip_check
 singleton AP_Winch method get_rate_max float
 
+include AP_Gripper/AP_Gripper.h
+singleton AP_Gripper depends AP_GRIPPER_ENABLED
+singleton AP_Gripper rename gripper
+singleton AP_Gripper method grab void
+singleton AP_Gripper method release void
+singleton AP_Gripper method released boolean
+
 include AP_IOMCU/AP_IOMCU.h
 singleton AP_IOMCU depends HAL_WITH_IO_MCU
 singleton AP_IOMCU rename iomcu