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Add gripper module

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This commit is contained in:
Johnathon Slightham
2026-02-11 01:38:31 -05:00
parent 649669d598
commit 63a18677cb
2 changed files with 4 additions and 1 deletions
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3
components/constants/include/constants/module.h
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@@ -14,7 +14,8 @@ inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {
{ModuleType_SERVO_1, 2}, {ModuleType_SERVO_1, 2},
{ModuleType_DC_MOTOR, 1}, {ModuleType_DC_MOTOR, 1},
{ModuleType_SERVO_2, 2}, {ModuleType_SERVO_2, 2},
{ModuleType_DISPLAY, 1} {ModuleType_DISPLAY, 1},
{ModuleType_GRIPPER, 1},
}; };
#define PC_ADDR 0 #define PC_ADDR 0

2
main/control/ActuatorFactory.cpp
View File

@@ -17,6 +17,8 @@ ActuatorFactory::create_actuator(const ModuleType type) {
return std::make_unique<Servo1Actuator>(); return std::make_unique<Servo1Actuator>();
case ModuleType_SERVO_2: case ModuleType_SERVO_2:
return std::make_unique<Servo1Actuator>(); return std::make_unique<Servo1Actuator>();
case ModuleType_GRIPPER:
return std::make_unique<Servo1Actuator>();
case ModuleType_DC_MOTOR: case ModuleType_DC_MOTOR:
return std::make_unique<DCMotorActuator>(); return std::make_unique<DCMotorActuator>();
case ModuleType_DISPLAY: case ModuleType_DISPLAY: