Motor.h

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#ifndef Motor_h
#define Motor_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 "ParseIni.h"
#include "Board.h"
#include "Utilities.h"
 
 
#include <stdint.h>
 
// TODO: Create base motor class with interface read_data(), send_cmd(), motor_on_off(bool), get_is_left()
 
class _Motor
{
    public:
        _Motor(config_defs::joint_id id, ExoData* exo_data, int enable_pin);
        virtual ~_Motor(){};
        
        //Pure virtual functions, these will have to be defined for each one.
        
        virtual void read_data() = 0; 
 
        virtual void send_data(float torque) = 0;  
        
        virtual void transaction(float torque) = 0;
        //void set_controller(int controller); // Changes the low level controller for an individual joint
        
        virtual void on_off() = 0;  
        
        virtual bool enable() = 0;  
        
        virtual bool enable(bool overide) = 0;  
        
        virtual void zero() = 0; 
         
        
        virtual bool get_is_left();  // 
        
        virtual config_defs::joint_id get_id();
 
        virtual float get_Kt() = 0; 
    protected:
        config_defs::joint_id _id; //motor id 
        bool _is_left;
        ExoData* _data;
        MotorData* _motor_data;
        int _enable_pin;
        bool _prev_motor_enabled; 
        bool _prev_on_state;
        float _Kt; // Torque constant of the motor, at the motor output. [Nm/A]   
};
 
class NullMotor : public _Motor
{
    public:
    NullMotor(config_defs::joint_id id, ExoData* exo_data, int enable_pin):_Motor(id, exo_data, enable_pin) {};
    void read_data() {};
    void send_data(float torque) {};
    void transaction(float torque) {};
    void on_off() {};
    bool enable() {return true;};
    bool enable(bool overide) {return true;};
    void zero() {};
    float get_Kt() {return 0.0;};
};
 
 
class _CANMotor : public _Motor
{
    public:
        _CANMotor(config_defs::joint_id id, ExoData* exo_data, int enable_pin);
        virtual ~_CANMotor(){};
        void transaction(float torque);
        void read_data();
        void send_data(float torque);
        void on_off();
        bool enable();
        bool enable(bool overide);
        void zero();
        float get_Kt();
        void check_response();
        
    protected:
 
        void set_Kt(float Kt);
        
        //TODO Chance : change the return to uint and check that stuff still works
        float _float_to_uint(float x, float x_min, float x_max, int bits);
        
        float _uint_to_float(unsigned int x_int, float x_min, float x_max, int bits);
        
        void _handle_read_failure();
        
        float _KP_MIN; 
        float _KP_MAX; 
        float _KD_MIN; 
        float _KD_MAX; 
        float _P_MAX; 
        float _I_MAX; 
        float _V_MAX; 
        int _timeout_count = 0; 
        bool _enable_response; 
        const uint32_t _timeout = 500;  
        const uint32_t _timeout_count_max = 40; 
        std::queue<float> _measured_current; 
        const int _current_queue_size = 25; 
        const float _variance_threshold = 0.01; 
};
 
class AK60 : public _CANMotor
{
    public:
        AK60(config_defs::joint_id id, ExoData* exo_data, int enable_pin); // constructor: type is the motor type
        ~AK60(){};
};
 
class AK60_v1_1 : public _CANMotor
{
    public:
        AK60_v1_1(config_defs::joint_id id, ExoData* exo_data, int enable_pin); // constructor: type is the motor type
        ~AK60_v1_1(){};
};
 
class AK60_v1_1_T : public _CANMotor
{
public:
    AK60_v1_1_T(config_defs::joint_id id, ExoData* exo_data, int enable_pin); // constructor: type is the motor type
    ~AK60_v1_1_T() {};
};
 
class AK80 : public _CANMotor
{
    public:
        AK80(config_defs::joint_id id, ExoData* exo_data, int enable_pin); // constructor: type is the motor type
        ~AK80(){};   
};
 
#endif
#endif