M3508.hpp

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#ifndef M3508_HPP
#define M3508_HPP
 
#include "M3508Base.hpp"
 
#include "OneMotor/Can/CanDriver.hpp"
#include "OneMotor/Control/PID.hpp"
#include <atomic>
 
 
namespace OneMotor::Motor::DJI
{
    enum class MotorMode
    {
        Position, 
        Angular, 
    };

    template <uint8_t id, MotorMode mode>
    class M3508;

    template <uint8_t id>
    class M3508<id, MotorMode::Angular>final : public M3508Base<id>
    {
    public:
        explicit M3508(Can::CanDriver& driver, const Control::PID_Params<float>& ang_params);

        void setRef(float ref) noexcept;

        void editAngPID(const std::function<void(PIDController*)>& func);
 
    private:
        void disabled_func_(Can::CanFrame&& frame) override;
        void enabled_func_(Can::CanFrame&& frame) override;
        std::unique_ptr<PIDController> ang_pid_; 
        std::atomic<float> ang_ref_; 
    };

    template <uint8_t id>
    class M3508<id, MotorMode::Position>final : public M3508Base<id>
    {
    public:
        explicit M3508(Can::CanDriver& driver,
                       const Control::PID_Params<float>& pos_params,
                       const Control::PID_Params<float>& ang_params);
        void setAngRef(float ang_ref) noexcept;

        void setPosRef(float pos_ref) noexcept;

        void editPosPID(const std::function<void(PIDController*)>& func);

        void editAngPID(const std::function<void(PIDController*)>& func);
 
    private:
        void disabled_func_(Can::CanFrame&& frame) override;
        void enabled_func_(Can::CanFrame&& frame) override;
        std::unique_ptr<PIDController> pos_pid_; 
        std::unique_ptr<PIDController> ang_pid_; 
        std::atomic<float> pos_ref_; 
        std::atomic<float> ang_ref_ = {16384}; 
    };
}
 
#endif //M3508_HPP