MotorData.h

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#ifndef MotorData_h
#define MotorData_h
 
#include "Arduino.h"
 
#include "ParseIni.h"
#include "Board.h"
 
#include <stdint.h>
 
// forward declaration
class ExoData;
 
class MotorData 
{
    public:
        MotorData(config_defs::joint_id id, uint8_t* config_to_send);
        
        void reconfigure(uint8_t* config_to_send);
        
        config_defs::joint_id id; 
        uint8_t motor_type; 
        float last_command; 
        float p;  
        float v;  
        float i;  
        float p_des = 0;   
        float v_des = 0; 
        float kp = 0; 
        float kd = 0; 
        float t_ff = 0; 
        // add do_zero_flag and check in run.
        bool do_zero; 
        bool enabled; 
        bool is_on; 
        bool is_left; 
        bool flip_direction; 
        float gearing; 
};
 
 
#endif