J4310.hpp

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#ifndef J4310_HPP
#define J4310_HPP
#include "J4310Frame.hpp"
#include "OneMotor/Can/CanDriver.hpp"
#include "OneMotor/Util/DoubleBuffer.hpp"
 
namespace OneMotor::Motor::DM
{
    class J4310
    {
    public:
        J4310() = delete;
        explicit J4310(Can::CanDriver& driver, uint16_t canId, uint16_t masterId);
        tl::expected<void, Error> enable();
        tl::expected<void, Error> disable();
        tl::expected<void, Error> setZeroPosition();
        tl::expected<void, Error> cleanError();
        tl::expected<void, Error> MITControl(float position, float velocity, float torque, float kp, float kd);
        tl::expected<void, Error> posVelControl(float position, float velocity);
        tl::expected<void, Error> velControl(float velocity);

        tl::expected<void, Error> refreshStatus() noexcept;

        J4310Status getStatus();

        tl::expected<J4310Status, Error> getNewStatus(uint16_t usec = 500);
 
    private:
        DoubleBuffer<J4310Status> m_Buffer{};
        Can::CanDriver& driver_;
        uint16_t canId_;
        uint16_t masterId_;
    };
}
 
#endif //J4310_HPP