Diff: odrive.h

Revision:

3:10fa3102c2d7

Child:

4:778bc352c47f

diff -r 50f1485931f1 -r 10fa3102c2d7 odrive.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/odrive.h	Fri Oct 05 15:57:55 2018 +0000
@@ -0,0 +1,46 @@
+#ifndef ODrive_h
+#define ODrive_h
+#include <string>
+#include <sstream>
+#include <stdint.h>
+#include "mbed.h"
+#include <cstdlib>
+#include "BufferedSerial.h"
+class ODrive {
+public:
+    enum AxisState_t {
+        AXIS_STATE_UNDEFINED = 0,           //<! will fall through to idle
+        AXIS_STATE_IDLE = 1,                //<! disable PWM and do nothing
+        AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
+        AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,   //<! run all calibration procedures, then idle
+        AXIS_STATE_MOTOR_CALIBRATION = 4,   //<! run motor calibration
+        AXIS_STATE_SENSORLESS_CONTROL = 5,  //<! run sensorless control
+        AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
+        AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
+        AXIS_STATE_CLOSED_LOOP_CONTROL = 8  //<! run closed loop control
+    };
+
+    ODrive(BufferedSerial& serial);
+
+    // Commands
+    void SetPosition(int motor_number, float position);
+    void SetPosition(int motor_number, float position, float velocity_feedforward);
+    void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
+    void SetVelocity(int motor_number, float velocity);
+    void SetVelocity(int motor_number, float velocity, float current_feedforward);
+    
+    void FinishedSending();
+
+    // General params
+    float readFloat();
+    int32_t readInt();
+
+    // State helper
+    bool run_state(int axis, int requested_state, bool wait);
+private:
+    std::string readString();
+
+    BufferedSerial& serial_;
+};
+
+#endif //ODrive_h
\ No newline at end of file