Program Listing for File base.hpp
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// Copyright 2023 Christoph Hellmann Santos
// Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
//
#ifndef CANOPEN_402_BASE_H
#define CANOPEN_402_BASE_H
#include <string>
#include "lely/coapp/driver.hpp"
#include "lely/coapp/master.hpp"
namespace ros2_canopen
{
class MotorBase
{
protected:
MotorBase() {}
public:
enum OperationMode
{
No_Mode = 0,
Profiled_Position = 1,
Velocity = 2,
Profiled_Velocity = 3,
Profiled_Torque = 4,
Reserved = 5,
Homing = 6,
Interpolated_Position = 7,
Cyclic_Synchronous_Position = 8,
Cyclic_Synchronous_Velocity = 9,
Cyclic_Synchronous_Torque = 10,
};
virtual bool setTarget(double val) = 0;
virtual bool enterModeAndWait(uint16_t mode) = 0;
virtual bool isModeSupported(uint16_t mode) = 0;
virtual uint16_t getMode() = 0;
virtual void registerDefaultModes() {}
typedef std::shared_ptr<MotorBase> MotorBaseSharedPtr;
};
typedef MotorBase::MotorBaseSharedPtr MotorBaseSharedPtr;
} // namespace ros2_canopen
#endif