motor_driver.h

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#ifndef MOTORDRIVER_H
#define MOTORDRIVER_H
#include <stdint.h>
#include "master_board_sdk/motor.h"
 
class Motor;
class MotorDriver
{
public:
    MotorDriver();
    void EnableMotorDriver();
    void DisableMotorDriver();
    void SetMotors(Motor *motor1, Motor *motor2);
    void Print();
    void EnablePositionRolloverError();
  void DisablePositionRolloverError();
  void SetTimeout(uint8_t time);
 
    bool IsConnected();
    bool IsEnabled();
    int GetErrorCode();
 
    void Enable();
    void Disable();
 
    //adc
    float adc[2];
 
    //private:
    Motor *motor1;
    Motor *motor2;
 
    //status
    bool is_connected = 1; // if we don't know, we consider it connected
    bool is_enabled;
    int error_code;
 
    //commands
    bool enable;
    bool enable_position_rollover_error;
    uint8_t timeout;
 
    // Set functions for Python binding with Boost
  void set_motor1(Motor* mot) { this->motor1 = mot; };
    void set_motor2(Motor* mot) { this->motor2 = mot; };
    void set_is_connected(bool val) { this->is_connected = val; };
    void set_is_enabled(bool val) { this->is_enabled = val; };
    void set_error_code(int val) { this->error_code = val; };
    void set_enable(bool val) { this->enable = val;};
    void set_enable_position_rollover_error(bool val) { this->enable_position_rollover_error = val; };
    void set_timeout(uint8_t val) { this->timeout = val; };
    void set_adc(float adc_val []); // See definition in .cpp
 
    // Get functions for Python binding with Boost
  Motor* get_motor1() { return (this->motor1); };
    Motor* get_motor2() { return (this->motor2); };
    bool get_is_connected() { return this->is_connected; };
    bool get_is_enabled() { return this->is_enabled; };
    int get_error_code() { return this->error_code; };
    bool get_enable() { return this->enable; };
    bool get_enable_position_rollover_error() { return this->enable_position_rollover_error; };
    uint8_t get_timeout() { return this->timeout; };
};
 
#endif