Drive.h

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#ifndef DRIVE_H_INCLUDED
#define DRIVE_H_INCLUDED

#include <CANopen.h>
#include <CO_command.h>
#include <string.h>

#include <map>
#include <sstream>
#include <vector>

enum ControlMode {
    UNCONFIGURED = 0,
    POSITION_CONTROL = 1,
    VELOCITY_CONTROL = 2,
    TORQUE_CONTROL = 3,
    ERROR = -1
};
enum DriveState {
    DISABLED = 0,
    READY_TO_SWITCH_ON = 1,
    ENABLED = 2,
};

enum OD_Entry_t {
    STATUS_WORD = 0,
    ACTUAL_POS = 1,
    ACTUAL_VEL = 2,
    ACTUAL_TOR = 3,
    TARGET_POS = 11,
    TARGET_VEL = 12
};

static std::map<OD_Entry_t, int> OD_Addresses = {
    {STATUS_WORD, 0x6041},
    {ACTUAL_POS, 0x6064},
    {ACTUAL_VEL, 0x606C},
    {ACTUAL_TOR, 0x6077},
    {TARGET_POS, 0x607A},
    {TARGET_VEL, 0x60FF},
};

static std::map<OD_Entry_t, int> OD_Data_Size = {
    {STATUS_WORD, 0x0010},
    {ACTUAL_POS, 0x0020},
    {ACTUAL_VEL, 0x0020},
    {ACTUAL_TOR, 0x0010},
    {TARGET_POS, 0x0020},
    {TARGET_VEL, 0x0020},
};
struct motorProfile {
    int profileVelocity;
    int profileAccelration;
    int profileDeceleration;
};

class Drive {
   protected:
    int NodeID;

    std::vector<std::string> generateTPDOConfigSDO(std::vector<OD_Entry_t> items, int PDO_Num, int SyncRate);

    std::vector<std::string> generateRPDOConfigSDO(std::vector<OD_Entry_t> items, int PDO_Num, int UpdateTiming);

    std::vector<std::string> generatePosControlConfigSDO(motorProfile positionProfile);

    std::vector<std::string> generateVelControlConfigSDO(motorProfile velocityProfile);

    int
    sendSDOMessages(std::vector<std::string> messages);

   private:
    int statusWord;

    int error;

    DriveState driveState = DISABLED;

    ControlMode controlMode = UNCONFIGURED;

   public:
    Drive();

    Drive(int NodeID);

    virtual ~Drive(){};

    virtual bool Init() = 0;

    virtual bool initPDOs();

    virtual bool initPosControl(motorProfile posControlMotorProfile) = 0;

    virtual bool initVelControl(motorProfile velControlMotorProfile) = 0;

    virtual bool initTorqControl() = 0;

    virtual int updateDriveStatus();

    virtual bool setPos(int position);

    virtual bool setVel(int velocity);

    virtual bool setTorque(int torque);

    virtual int getPos();

    virtual int getVel();

    virtual int getTorque();

    // Drive State Modifiers
    virtual bool readyToSwitchOn();

    virtual bool enable();

    virtual bool disable();

    virtual bool posControlConfirmSP();

    virtual DriveState getDriveState();

    // CANOpen
    int getNodeID();
};

#endif