real_robot.h

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#ifndef REAL_ROBOT_H
#define REAL_ROBOT_H

#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <serial/serial.h>
#include "arduino_comms.h"
#include <cstring>

class RealRobot : public hardware_interface::RobotHW
{

public:
  struct Config
  {
    std::string left_wheel_name = "left_wheel";
    std::string right_wheel_name = "right_wheel";
    float loop_rate = 30;
    std::string device = "/dev/ttyUSB0";
    int baud_rate = 57600;
    int timeout = 1000;
    int enc_counts_per_rev = 1920;
  };



private:

  struct Wheel
  {
    std::string name = "";
    int enc = 0;
    double cmd = 0;
    double pos = 0;
    double vel = 0;
    double eff = 0;
    double velSetPt = 0;
    double rads_per_count = 0;

    Wheel(const std::string &wheel_name, int counts_per_rev);

    double calcEncAngle();
  };



public:
  RealRobot(const Config &cfg);

  void read();
  void write();


  const ros::Time &get_time() { return time_; }
  const ros::Duration &get_period() { return period_; }

private:
  hardware_interface::JointStateInterface jnt_state_interface_;
  hardware_interface::VelocityJointInterface jnt_vel_interface_;
  ArduinoComms arduino_;

  Wheel l_wheel_;
  Wheel r_wheel_;

  ros::Time time_;
  ros::Duration period_;
  float loop_rate_;
  
};


#endif // REAL_ROBOT_H