base.hpp

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#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