base.hpp

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//    Copyright 2023 Christoph Hellmann Santos
//    Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
//
#ifndef CANOPEN_402_BASE_H
#define CANOPEN_402_BASE_H
#include <string>
 
#include "lely/coapp/driver.hpp"
#include "lely/coapp/master.hpp"
 
namespace ros2_canopen
{
 
class MotorBase
{
protected:
  MotorBase() {}
 
public:
  enum OperationMode
  {
    No_Mode = 0,
    Profiled_Position = 1,
    Velocity = 2,
    Profiled_Velocity = 3,
    Profiled_Torque = 4,
    Reserved = 5,
    Homing = 6,
    Interpolated_Position = 7,
    Cyclic_Synchronous_Position = 8,
    Cyclic_Synchronous_Velocity = 9,
    Cyclic_Synchronous_Torque = 10,
  };
 
  virtual bool setTarget(double val) = 0;
 
  virtual bool enterModeAndWait(uint16_t mode) = 0;
 
  virtual bool isModeSupported(uint16_t mode) = 0;
 
  virtual uint16_t getMode() = 0;
 
  virtual void registerDefaultModes() {}
 
  typedef std::shared_ptr<MotorBase> MotorBaseSharedPtr;
};
typedef MotorBase::MotorBaseSharedPtr MotorBaseSharedPtr;
 
}  // namespace ros2_canopen
 
#endif