motor.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "api.h"
#include "okapi/api/device/motor/abstractMotor.hpp"
#include "okapi/api/util/logging.hpp"
 
namespace okapi {
class Motor : public AbstractMotor {
  public:
  Motor(std::int8_t iport);
 
  Motor(std::uint8_t iport,
        bool ireverse,
        AbstractMotor::gearset igearset,
        AbstractMotor::encoderUnits iencoderUnits,
        const std::shared_ptr<Logger> &logger = Logger::getDefaultLogger());
 
  /******************************************************************************/
  /******************************************************************************/
 
  std::int32_t moveAbsolute(double iposition, std::int32_t ivelocity) override;
 
  std::int32_t moveRelative(double iposition, std::int32_t ivelocity) override;
 
  std::int32_t moveVelocity(std::int16_t ivelocity) override;
 
  std::int32_t moveVoltage(std::int16_t ivoltage) override;
 
  std::int32_t modifyProfiledVelocity(std::int32_t ivelocity) override;
 
  /******************************************************************************/
  /******************************************************************************/
 
  double getTargetPosition() override;
 
  double getPosition() override;
 
  std::int32_t tarePosition() override;
 
  std::int32_t getTargetVelocity() override;
 
  double getActualVelocity() override;
 
  std::int32_t getCurrentDraw() override;
 
  std::int32_t getDirection() override;
 
  double getEfficiency() override;
 
  std::int32_t isOverCurrent() override;
 
  std::int32_t isOverTemp() override;
 
  std::int32_t isStopped() override;
 
  std::int32_t getZeroPositionFlag() override;
 
  uint32_t getFaults() override;
 
  uint32_t getFlags() override;
 
  std::int32_t getRawPosition(std::uint32_t *timestamp) override;
 
  double getPower() override;
 
  double getTemperature() override;
 
  double getTorque() override;
 
  std::int32_t getVoltage() override;
 
  /******************************************************************************/
  /******************************************************************************/
 
  std::int32_t setBrakeMode(AbstractMotor::brakeMode imode) override;
 
  brakeMode getBrakeMode() override;
 
  std::int32_t setCurrentLimit(std::int32_t ilimit) override;
 
  std::int32_t getCurrentLimit() override;
 
  std::int32_t setEncoderUnits(AbstractMotor::encoderUnits iunits) override;
 
  encoderUnits getEncoderUnits() override;
 
  std::int32_t setGearing(AbstractMotor::gearset igearset) override;
 
  gearset getGearing() override;
 
  std::int32_t setReversed(bool ireverse) override;
 
  std::int32_t setVoltageLimit(std::int32_t ilimit) override;
 
  virtual std::int32_t setPosPID(double ikF, double ikP, double ikI, double ikD);
 
  virtual std::int32_t setPosPIDFull(double ikF,
                                     double ikP,
                                     double ikI,
                                     double ikD,
                                     double ifilter,
                                     double ilimit,
                                     double ithreshold,
                                     double iloopSpeed);
 
  virtual std::int32_t setVelPID(double ikF, double ikP, double ikI, double ikD);
 
  virtual std::int32_t setVelPIDFull(double ikF,
                                     double ikP,
                                     double ikI,
                                     double ikD,
                                     double ifilter,
                                     double ilimit,
                                     double ithreshold,
                                     double iloopSpeed);
 
  std::shared_ptr<ContinuousRotarySensor> getEncoder() override;
 
  void controllerSet(double ivalue) override;
 
  std::uint8_t getPort() const;
 
  bool isReversed() const;
 
  protected:
  std::uint8_t port;
  std::int8_t reversed{1};
};
} // namespace okapi