mGripper.h

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#ifndef MGRIPPER_H
#define MGRIPPER_H
#include "bioscara_gripper_hardware_driver/mBaseGripper.h"
#include "bioscara_gripper_hardware_driver/uPWM.h"
#include "bioscara_arm_hardware_driver/uErr.h"
 
namespace bioscara_hardware_drivers
{
    class Gripper : public BaseGripper
    {
    public:
        Gripper(float reduction, float offset, float min, float max, float backup_init_pos);
 
        err_type_t enable(void) override;
 
        err_type_t disable(void) override;
 
        err_type_t setPosition(float width) override;
 
        err_type_t setServoPosition(float angle);
 
    protected:
 
        RPI_PWM _pwm;   
        int _freq = 50; 
 
    private:
        
    };
}
#endif // MGRIPPER_H