JointData.h

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#ifndef JointData_h
#define JointData_h
 
 
#include "Arduino.h"
 
#include "MotorData.h"
#include "ControllerData.h"
#include "ParseIni.h"
#include "Board.h"
 
 
#include <stdint.h>
 
 
// forward declaration
class ExoData;
 
class JointData {
    public:
        JointData(config_defs::joint_id id, uint8_t* config_to_send);
        
        void reconfigure(uint8_t* config_to_send);
        
        config_defs::joint_id id; 
        MotorData motor; 
        ControllerData controller; 
        float torque_reading;  
        bool is_left; 
        bool flip_direction; 
        bool is_used; 
        bool calibrate_torque_sensor;  
        bool calibrate_angle_sensor;  
        float position; 
        float velocity; 
        float joint_position; 
        float joint_global_angle; 
        float prev_joint_position; 
        float joint_velocity;
        const float joint_position_alpha = 0.1f;
        const float joint_velocity_alpha = 0.1f;
 
};
 
 
#endif