tmcl_stepper_motor.h

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#ifndef TMCL_STEPPER_MOTOR_H
#define TMCL_STEPPER_MOTOR_H
 
#include "tmcl_motor.h"
 
/* List Commutation Modes availaable for BLDC motors */ 
typedef enum
{
  STEPPER_OPENLOOP_MOTOR = 0,
  STEPPER_CLOSEDLOOP_MOTOR,
  STEPPER_COMM_MODE_MAX            /* This should not be used */
} stepper_comm_mode_t;
 
class StepperMotor : public Motor
{
public:
  /* Constructor */
  StepperMotor(ros::NodeHandle* p_nh, TmclInterpreter *p_tmcl_interpreter, 
    uint16_t module_number, uint8_t motor_number);
 
  /* Destructor */
  ~StepperMotor() override;
 
  /* Initialize Stepper Motor */
  void init() override;
 
private:
  /* Publisher */
  void rosPublishTmcInfo(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;
  void cmdTrqCallback(const std_msgs::Int32 msg) override;
 
  uint16_t microstep_resolution_;
  uint32_t motor_fullstep_resolution_;
 
  stepper_comm_mode_t comm_mode_;
};
 
#endif // TMCL_STEPPER_MOTOR_H