can_motor.h

#pragma once
 
#include "../../CAN/CAN.h"
#include "../../CAN/CANMotor.h"
#include "../../CAN/CANUtils.h"
#include "base_motor.h"

namespace robot {
class can_motor : public base_motor {
public:
    can_motor(robot::types::motorid_t motor, bool hasPosSensor, can::deviceserial_t serial,
              can::devicegroup_t group, double pos_pwm_scale, double neg_pwm_scale);
 
    void setMotorPower(double power) override;
 
    void setMotorPos(int32_t targetPos) override;
 
    types::DataPoint<int32_t> getMotorPos() const override;
 
    void setMotorVel(int32_t targetVel) override;
 
  void setServoPos(uint8_t servo, int32_t position) override;
 
  void setStepperTurnAngle(uint8_t stepper, int16_t angle) override;

    can::deviceserial_t getMotorSerial();
 
private:
    can::deviceserial_t serial_id;
    can::devicegroup_t device_group;
    std::optional<can::motor::motormode_t> motor_mode;
    double positive_scale;
    double negative_scale;
    void ensureMotorMode(robot::types::motorid_t motor, can::motor::motormode_t mode);
}; // class can_motor
} // namespace robot