CopleyDrive.h

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#ifndef COPLEYDRIVE_H_INCLUDED
#define COPLEYDRIVE_H_INCLUDED
#include "Drive.h"

class CopleyDrive : public Drive {
   public:
    CopleyDrive(int NodeID);

    ~CopleyDrive();
    bool Init();

    bool initPosControl(motorProfile posControlMotorProfile);

    bool initVelControl(motorProfile velControlMotorProfile);

    bool initTorqControl();
    std::vector<std::string> generatePosControlConfigSDO(motorProfile positionProfile);
    std::vector<std::string> generateVelControlConfigSDO(motorProfile velocityProfile);
};

#endif