mBaseJoint.h

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#ifndef MBASEJOINT_H
#define MBASEJOINT_H
 
#include <iostream>
#include "bioscara_arm_hardware_driver/uErr.h"
 
namespace bioscara_hardware_drivers
{
  class BaseJoint
  {
  public:
    enum stp_reg_t
    {
      NONE = 0x00,                
      PING = 0x0f,                
      SETUP = 0x10,               
      SETRPM = 0x11,              
      GETDRIVERRPM = 0x12,        
      MOVESTEPS = 0x13,           
      MOVEANGLE = 0x14,           
      MOVETOANGLE = 0x15,         
      GETMOTORSTATE = 0x16,       
      RUNCOTINOUS = 0x17,         
      ANGLEMOVED = 0x18,          
      SETCURRENT = 0x19,          
      SETHOLDCURRENT = 0x1A,      
      SETMAXACCELERATION = 0x1B,  
      SETMAXDECELERATION = 0x1C,  
      SETMAXVELOCITY = 0x1D,      
      ENABLESTALLGUARD = 0x1E,    
      DISABLESTALLGUARD = 0x1F,   
      CLEARSTALL = 0x20,          
      SETBRAKEMODE = 0x22,        
      ENABLEPID = 0x23,           
      DISABLEPID = 0x24,          
      ENABLECLOSEDLOOP = 0x25,    
      DISABLECLOSEDLOOP = 0x26,   
      SETCONTROLTHRESHOLD = 0x27, 
      MOVETOEND = 0x28,           
      STOP = 0x29,                
      GETPIDERROR = 0x2A,         
      CHECKORIENTATION = 0x2B,    
      GETENCODERRPM = 0x2C,       
      HOME = 0x2D,                
      HOMEOFFSET = 0x2E,          
    };
 
    BaseJoint(const std::string name);
 
    ~BaseJoint(void);
 
    virtual err_type_t init(void);
 
    virtual err_type_t deinit(void);
 
    virtual err_type_t enable(u_int8_t driveCurrent, u_int8_t holdCurrent);
 
    virtual err_type_t disable(void);
 
    virtual err_type_t home(float velocity, u_int8_t sensitivity, u_int8_t current);
 
    virtual err_type_t startHoming(float velocity, u_int8_t sensitivity, u_int8_t current);
 
    virtual err_type_t postHoming(void);
 
    virtual err_type_t getPosition(float &pos) = 0;
 
    virtual err_type_t setPosition(float pos);
 
    virtual err_type_t moveSteps(int32_t steps);
 
    virtual err_type_t getVelocity(float &vel) = 0;
 
    virtual err_type_t setVelocity(float vel);
 
    virtual err_type_t checkOrientation(float angle = 2.0);
 
    virtual err_type_t stop(void);
 
    virtual err_type_t disableCL(void);
 
    virtual err_type_t setDriveCurrent(u_int8_t current);
 
    virtual err_type_t setHoldCurrent(u_int8_t current);
 
    virtual err_type_t setBrakeMode(u_int8_t mode);
 
    virtual err_type_t setMaxAcceleration(float maxAccel);
 
    virtual err_type_t setMaxVelocity(float maxVel);
 
    virtual err_type_t enableStallguard(u_int8_t sensitivity);
 
    virtual bool isHomed(void);
 
    virtual bool isEnabled(void);
 
    virtual bool isStalled(void);
 
    virtual bool isBusy(void);
 
    virtual err_type_t getFlags(u_int8_t &flags);
 
    virtual err_type_t getFlags(void);
 
    virtual stp_reg_t getCurrentBCmd(void);
 
    std::string name; 
 
  protected:
    virtual void wait_while_busy(const float period_ms);
 
    virtual err_type_t _home(float velocity, u_int8_t sensitivity, u_int8_t current) = 0;
 
    u_int8_t flags = 0b00001100;
 
    stp_reg_t current_b_cmd = NONE; 
 
  private:
  };
}
#endif