tmc_coe_stepper_motor.h

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#ifndef TMC_COE_STEPPER_MOTOR_H
#define TMC_COE_STEPPER_MOTOR_H
 
#include "tmc_coe_motor.h"
 
/* Commutation Modes available for Stepper Motors */
typedef enum
{
  STEPPER_DISABLED_MOTOR = 0,
  STEPPER_OPENLOOP_MOTOR,
  STEPPER_CLOSEDLOOP_MOTOR
} stepper_comm_mode_t;
 
class TmcCoeStepperMotor : public TmcCoeMotor
{
private:
 
  /* Publisher */
  void rosPublishTmcCoeInfo(const ros::TimerEvent& event) override;
 
  /* Subscriber */
  void initSubscriber() override;
  void cmdVelCallback(const geometry_msgs::Twist& msg) override;
  void cmdAbsPosCallback(const std_msgs::Int32 msg) override;
  void cmdRelPosCallback(const std_msgs::Int32 msg) override;
 
  uint32_t encoder_steps_;
  int32_t position_scaler_;
  stepper_comm_mode_t commutation_mode_;
 
public:
  TmcCoeStepperMotor(ros::NodeHandle *p_nh, TmcCoeInterpreter* p_tmc_coe_interpreter,
                  uint8_t slave_number, uint8_t motor_number);
  ~TmcCoeStepperMotor();
  void init() override;
};
 
#endif /* TMC_COE_STEPPER_MOTOR_H */