mJoint.h

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#ifndef MJOINT_H
#define MJOINT_H
 
#include <iostream>
#include "bioscara_arm_hardware_driver/mBaseJoint.h"
#include "bioscara_arm_hardware_driver/uTransmission.h"
 
namespace bioscara_hardware_drivers
{
  class Joint : public BaseJoint
  {
  public:
    Joint(const std::string name, const int address, const float reduction, const float min, const float max);
 
    ~Joint(void);
 
    err_type_t init(void) override;
 
    err_type_t deinit(void) override;
 
    err_type_t enable(u_int8_t driveCurrent, u_int8_t holdCurrent) override;
 
    err_type_t postHoming(void) override;
 
    err_type_t getPosition(float &pos) override;
 
    err_type_t setPosition(float pos) override;
 
    err_type_t moveSteps(int32_t steps) override;
 
    err_type_t getVelocity(float &vel) override;
 
    err_type_t setVelocity(float vel) override;
 
    err_type_t checkOrientation(float angle = 2.0) override;
 
    err_type_t stop(void) override;
 
    err_type_t disableCL(void) override;
 
    err_type_t setDriveCurrent(u_int8_t current) override;
 
    err_type_t setHoldCurrent(u_int8_t current) override;
 
    err_type_t setBrakeMode(u_int8_t mode) override;
 
    err_type_t setMaxAcceleration(float maxAccel) override;
 
    err_type_t setMaxVelocity(float maxVel) override;
 
    err_type_t enableStallguard(u_int8_t sensitivity) override;
 
    err_type_t getFlags(void) override;
 
  protected:
 
    err_type_t getHomingOffset(float &offset);
 
    err_type_t setHomingOffset(const float offset);
    
    err_type_t _home(float velocity, u_int8_t sensitivity, u_int8_t current) override;
 
    err_type_t checkCom(void);
 
    float reduction = 1; 
    float offset = 0;    
    float min = 0;       
    float max = 0;       
 
  private:
    template <typename T>
    int read(const stp_reg_t reg, T &data, u_int8_t &flags);
 
    template <typename T>
    int write(const stp_reg_t reg, T data, u_int8_t &flags);
 
    int address;     
    int handle = -1; 
  };
}
#include "bioscara_arm_hardware_driver/mJoint.hpp"
 
#endif