mBaseGripper.h

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#ifndef MBASEGRIPPER_H
#define MBASEGRIPPER_H
#include "bioscara_arm_hardware_driver/uErr.h"
#include <chrono>
 
namespace bioscara_hardware_drivers
{
 
    class BaseGripper
    {
    public:
        BaseGripper(float reduction, float offset, float min, float max, float backup_init_pos);
 
        ~BaseGripper(void);
 
        virtual err_type_t init(void);
 
        virtual err_type_t deinit(void);
 
        virtual err_type_t enable(void);
 
        virtual err_type_t disable(void);
 
        virtual err_type_t setPosition(float width);
 
        virtual err_type_t getPosition(float &width);
 
        virtual void setReduction(float reduction);
 
        virtual void setOffset(float offset);
 
    protected:
        err_type_t save_last_position(float pos);
 
        err_type_t retrieve_last_position(float &pos);
 
        float _reduction = 1;          
        float _offset = 0;             
        float _min = 0;                
        float _max = 0;                
        float _backup_init_pos = 0.0;  
        float _pos = _backup_init_pos; 
        float _pos_get = _pos;         
    private:
        std::chrono::_V2::system_clock::time_point _new_cmd_time = std::chrono::_V2::system_clock::time_point();
    };
}
#endif // MBASEGRIPPER_H