platinum_actuator.h

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#ifndef FASTCAT_PLATINUM_ACTUATOR_H_
#define FASTCAT_PLATINUM_ACTUATOR_H_
 
// Include related header (for cc files)
 
// Include C then C++ libraries
 
// Include external then project includes
#include "fastcat/jsd/actuator.h"
#include "jsd/jsd_epd_nominal_pub.h"
// #include "jsd/jsd_epd_pub.h"
 
namespace fastcat
{
class PlatinumActuator : public Actuator
{
 public:
  PlatinumActuator();
 
 protected:
  jsd_epd_nominal_state_t jsd_epd_state_ = {};
 
 private:
  void PopulateJsdSlaveConfig() override;
  void PopulateState() override;
 
  bool HandleNewProfPosCmdImpl(const DeviceCmd& cmd) override;
  bool HandleNewProfVelCmdImpl(const DeviceCmd& cmd) override;
  bool HandleNewProfTorqueCmdImpl(const DeviceCmd& cmd) override;
 
  FaultType ProcessProfPosDisengaging() override;
  FaultType ProcessProfPos() override;
  FaultType ProcessProfVelDisengaging() override;
  FaultType ProcessProfVel() override;
  FaultType ProcessProfTorqueDisengaging() override;
  FaultType ProcessProfTorque() override;
 
  void ElmoRead() override;
  void ElmoClearErrors() override;
  void ElmoFault() override{};
  void ElmoReset() override;
  void ElmoSetPeakCurrent(double current) override;
  void ElmoSetDigitalOutput(uint8_t digital_output_index,
                            uint8_t output_level) override;
  void ElmoSetUnitMode(int32_t mode, uint16_t app_id) override;
  void ElmoSetGainSchedulingMode(jsd_elmo_gain_scheduling_mode_t mode,
                                 uint16_t app_id) override;
  void ElmoSetGainSchedulingIndex(uint16_t index) override;
  void ElmoCSP(const jsd_elmo_motion_command_csp_t& jsd_csp_cmd) override;
  void ElmoCSV(const jsd_elmo_motion_command_csv_t& jsd_csv_cmd) override;
  void ElmoCST(const jsd_elmo_motion_command_cst_t& jsd_cst_cmd) override;
  void ElmoHalt() override;
  void ElmoProcess() override;
 
  double                         GetActualVelocity() override;
  double                         GetElmoActualPosition() override;
  jsd_elmo_state_machine_state_t GetElmoStateMachineState() override;
  bool                           IsStoEngaged() override;
};
 
}  // namespace fastcat
 
#endif