Adding a New Motor Type

Motor.h

1. Create a class for your new motor type that inherits its interface from the _Motor class:

   class _YourMotorType : public _Motor
   {
       public:
           _YourMotorType(config_defs::joint_id id, ExoData* exo_data, int enable_pin);
           virtual ~_YourMotorType(){};
           void transaction(float torque);
           void read_data();
           void send_data(float torque);
           void on_off();
           bool enable();
           bool enable(bool overide);
           void zero();
       protected:
           ...
   };
   

2. Add any protected member variables or functions that will be needed to operate your motor.

3. Create a specific motor class of this type that inherits the motor type class you just created:

   class ANewMotor : public _YourMotorType
   {
       public:
           ANewMotor(config_defs::joint_id id, ExoData* exo_data, int enable_pin); // constructor: type is the motor type
           ~ANewMotor(){};
   };
   

4. Add any additional protected member variables or functions needed to operate your motor.

Motor.cpp

1. Define the behavior of the member functions of _YourMotorType. - Ideally, these behaviors will be shared by all motors of this type.

2. Define the behavior of the member functions and any class-specific variables for ANewMotor.

Connect to Everything Else

1. Follow the steps in AddingNewCanMotor to connect this new motor type to the rest of the codebase. - This step is detailed in the referenced document so that you only need to update information in one place.