Program Listing for File motor_driver.h

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// BSD 3-Clause License
//
// Copyright (c) 2023, Ekumen Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
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// 3. Neither the name of the copyright holder nor the names of its
//    contributors may be used to endorse or promote products derived from
//    this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once

#include <array>
#include <cstdint>

#include <libserial/SerialPort.h>

namespace andino_base {

class MotorDriver {
 public:
  using Encoders = std::array<int, 2>;

  MotorDriver() = default;

  void Setup(const std::string& serial_device, int32_t baud_rate, int32_t timeout_ms);

  void SendEmptyMsg();

  Encoders ReadEncoderValues();

  void SetMotorValues(int val_1, int val_2);

  void SetPidValues(float k_p, float k_d, float k_i, float k_o);

  bool is_connected() const;

  std::string SendMsg(const std::string& msg_to_send);

 private:
  // Underlying serial connection.
  LibSerial::SerialPort serial_port_;

  int32_t timeout_ms_{25};
};

}  // namespace andino_base