motor_pid.h

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#ifndef GPIOPIDCONFIGURATOR_H
#define GPIOPICCONFIGURATOR_H

#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>

#include <roboteq_control/RoboteqPIDConfig.h>

#include "roboteq/serial_controller.h"

class MotorPIDConfigurator
{
public:
    MotorPIDConfigurator(const ros::NodeHandle& nh, roboteq::serial_controller *serial, string path, string name, unsigned int number);

    void initConfigurator(bool load_from_board);

    void setPIDconfiguration();

private:
    bool setup_pid;

    string mName;
    string mType;
    unsigned int mNumber;
    ros::NodeHandle nh_;
    roboteq::serial_controller* mSerial;

    dynamic_reconfigure::Server<roboteq_control::RoboteqPIDConfig> *ds_pid;
    void reconfigureCBPID(roboteq_control::RoboteqPIDConfig &config, uint32_t level);

    // Default parameter config
    roboteq_control::RoboteqPIDConfig default_pid_config, _last_pid_config;

    void getPIDFromRoboteq();
};

#endif // GPIOPICCONFIGURATOR_H