J4310Frame.hpp

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#ifndef J4310FRAME_HPP
#define J4310FRAME_HPP
#include "OneMotor/Can/CanFrame.hpp"
#include <string>
 
namespace OneMotor::Motor::DM
{
    constexpr float DM_V_MIN = -45.0f; 
    constexpr float DM_V_MAX = 45.0f; 
    constexpr float DM_P_MIN = -12.5f; 
    constexpr float DM_P_MAX = 12.5f; 
    constexpr float DM_T_MIN = -18.0f; 
    constexpr float DM_T_MAX = 18.0f; 
    constexpr float DM_KP_MIN = 0.0f; 
    constexpr float DM_KP_MAX = 500.0f; 
    constexpr float DM_KD_MIN = 0.0f; 
    constexpr float DM_KD_MAX = 5.0f; 

    constexpr float uint_to_float(const int x_int, const float x_min, const float x_max, const int bits)
    {
        const float span = x_max - x_min;
        const float offset = x_min;
        return static_cast<float>(x_int) * span / static_cast<float>((1 << bits) - 1) + offset;
    }

    constexpr int float_to_uint(const float x, const float x_min, const float x_max, const int bits)
    {
        const float span = x_max - x_min;
        const float offset = x_min;
        return static_cast<int>((x - offset) * static_cast<float>((1 << bits) - 1) / span);
    }

    enum class DMStatus
    {
        Disabled = 0, 
        Enabled = 1, 
        OverVoltage = 8, 
        UnderVoltage = 9, 
        OverCurrent = 0xA, 
        MosOverheat = 0xB, 
        RotorOverheat = 0xC, 
        Disconnected = 0xD, 
        Overloaded = 0xE, 
    };

    struct J4310Status
    {
        J4310Status() = default;

        explicit J4310Status(const Can::CanFrame& frame);

        std::string format();
 
        uint8_t ID; 
        DMStatus status; 
        float position; 
        float velocity; 
        float torque; 
        uint8_t temperature_MOS; 
        uint8_t temperature_Rotor; 
    };
}
#endif //J4310FRAME_HPP