Joint.h

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#ifndef Joint_h
#define Joint_h
 
// Arduino compiles everything in the src folder even if not included so it causes and error for the nano if this is not included.
#if defined(ARDUINO_TEENSY36)  || defined(ARDUINO_TEENSY41)
 
#include "Arduino.h"
 
#include "ExoData.h"
#include "Motor.h"
#include "Controller.h"
#include "TorqueSensor.h"
#include "ParseIni.h"
#include "board.h"
#include "Joint.h"
#include "config.h"
#include "Utilities.h"
#include "StatusDefs.h"
#include "AnkleAngles.h"
#include "AnkleIMU.h"
 
#include <stdint.h>
 
class _Joint
{
    static uint8_t left_torque_sensor_used_count; 
    static uint8_t right_torque_sensor_used_count;
    static uint8_t left_motor_used_count;
    static uint8_t right_motor_used_count;
    // TODO: create object for each type of controller (joint type specific) and pointer to current controller.
    // TODO: Create object for specific motor used based on config.
    // TODO: Create joint base class that can then be used for each joint so that hip, knee, and ankle can each have joint specific controllers.
    public:
        _Joint(config_defs::joint_id id, ExoData* exo_data);  // constructor:  
        virtual ~_Joint(){};
        
        virtual void run_joint() = 0;   
        
        virtual void read_data(); 
 
        virtual void check_calibration();         
        
        virtual void set_controller(uint8_t) = 0;  
        
        void set_motor(_Motor* new_motor);
        
        // create some static member functions we can use for the initializer list.
        
        static unsigned int get_torque_sensor_pin(config_defs::joint_id, ExoData*);
        
        static unsigned int get_motor_enable_pin(config_defs::joint_id, ExoData*);
 
        _Motor* _motor; 
        TorqueSensor _torque_sensor; 
        _Controller* _controller; 
    protected:
        // give access to the larger data object and the joint specific data 
        ExoData* _data;
        JointData* _joint_data;
        // IO objects for the joint
        //_Motor* _motor; /**< pointer to the base _Motor class so we can use any motor type.*/
        //TorqueSensor _torque_sensor; /**< Torque sensor for the joint*/
        //_Controller* _controller; /**< Pointer to the current controller.  Using pointer so we just need to change the object we are pointing to when the controller changes.*/
        
        // joint info
        config_defs::joint_id _id; 
        bool _is_left; 
};
 
class HipJoint : public _Joint
{
    public:
        HipJoint(config_defs::joint_id id, ExoData* exo_data);
        ~HipJoint(){};
        
        void run_joint();  
        //void read_data(); // See _Joint 
        
        void set_controller(uint8_t);  
    protected:
        // Objects for joint specific controllers
 
        ZeroTorque _zero_torque; 
        HeelToe _heel_toe; 
        ExtensionAngle _extension_angle; 
        BangBang _bang_bang; 
        LateStance _late_stance; 
        GaitPhase _gait_phase; 
        FranksCollinsHip _franks_collins_hip; 
        // UserDefined _user_defined; /**< user defined controller*/
        Sine _sine; 
        Stasis _stasis; 
        Perturbation _perturbation;    
        Parabolic _parabolic;    
        ConstantTorque _constant_torque; 
        PtbGeneral _ptb_general; 
};
 
class KneeJoint : public _Joint
{
    public:
        KneeJoint(config_defs::joint_id id, ExoData* exo_data);
        ~KneeJoint(){};
        
        void run_joint();  // See _Joint
        //void read_data(); // See _Joint
        
        void set_controller(uint8_t);  // See _Joint
    
    protected:
        // Objects for joint specific controllers   
        ZeroTorque _zero_torque; 
        // UserDefined _user_defined; /**< user defined controller*/
        Sine _sine; 
        Stasis _stasis; 
        Perturbation _perturbation;    
        ConstantTorque _constant_torque; 
        ElbowMinMax _elbow_min_max;
};
 
class AnkleJoint : public _Joint
{
    public:
        AnkleJoint(config_defs::joint_id id, ExoData* exo_data);
        ~AnkleJoint(){};
        
        void run_joint();  // See _Joint
        //void read_data(); // See _Joint
        
        void set_controller(uint8_t);  // See _Joint
        
    protected:
        AnkleIMU _imu;
        const float _imu_sample_rate_us{15000.0f};
        float _previous_sample_us{0.0f};
        AnkleAngles _ankle_angle;
        // Objects for joint specific controllers
        ZeroTorque _zero_torque;  
        ProportionalJointMoment _proportional_joint_moment;
        ZhangCollins _zhang_collins;
        // UserDefined _user_defined; /**< user defined controller*/
        Sine _sine; 
        Stasis _stasis; 
        Perturbation _perturbation;    
        ConstantTorque _constant_torque; 
        PtbGeneral _ptb_general; 
        PropulsiveAssistive _propulsive_assistive; 
        ElbowMinMax _elbow_min_max; 
        CalibrManager _calibr_manager; 
};
 
#endif
#endif