ActuatedJoint.h

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#ifndef ACTUATEDJOINT_H_INCLUDED
#define ACTUATEDJOINT_H_INCLUDED
#include "Drive.h"
#include "Joint.h"

enum setMovementReturnCode_t {
    SUCCESS = 1,
    OUTSIDE_LIMITS = -1,
    INCORRECT_MODE = -2,
    UNKNOWN_ERROR = -100
};

class ActuatedJoint : public Joint {
   protected:
    Drive *drive;

    ControlMode driveMode = UNCONFIGURED;

    virtual int toDriveUnits(double jointValue) = 0;

    virtual double fromDriveUnits(int driveValue) = 0;

   public:
    ActuatedJoint(int jointID, double jointMin, double jointMax, Drive *drive);

    virtual ControlMode setMode(ControlMode driveMode_, motorProfile profile);

    virtual setMovementReturnCode_t setPosition(double desQ);

    virtual setMovementReturnCode_t setVelocity(double velocity);

    virtual setMovementReturnCode_t setTorque(double torque);

    virtual void readyToSwitchOn();

    bool enable();
};

#endif