CanCtrlPltfCOb3.cpp

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_drivers
 * ROS package name: cob_base_drive_chain
 * Description: This is a sample implementation of a can-bus with several nodes. In this case it implements the drive-chain of the Care-O-bot3 mobile base. yet, this can be used as template for using the generic_can and canopen_motor packages to implement arbitrary can-setups.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Christian Connette, email:christian.connette@ipa.fhg.de
 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de
 *
 * Date of creation: Feb 2010
 * ToDo: - Check whether motor status request in "setVelGearRadS" "setMotorTorque" make sense (maybe remove in "CanDriveHarmonica").
 *               - move implementational details (can cmds) of configureElmoRecorder to CanDriveHarmonica (check whether CanDriveItf has to be adapted then)
 *               - Check: what is the iRecordingGap, what is its unit
 *               - Remove Mutex.h search for a Boost lib
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *         notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *         notice, this list of conditions and the following disclaimer in the
 *         documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Fraunhofer Institute for Manufacturing 
 *         Engineering and Automation (IPA) nor the names of its
 *         contributors may be used to endorse or promote products derived from
 *         this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL 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 Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

// general includes
#include <math.h>

// Headers provided by other cob-packages
#include <cob_generic_can/CanESD.h>
#include <cob_generic_can/CanPeakSys.h>
#include <cob_generic_can/CanPeakSysUSB.h>
#include <cob_base_drive_chain/CanCtrlPltfCOb3.h>


//-----------------------------------------------

CanCtrlPltfCOb3::CanCtrlPltfCOb3(std::string iniDirectory)
{       
        sIniDirectory = iniDirectory;
        IniFile iniFile;
        iniFile.SetFileName(sIniDirectory + "Platform.ini", "PltfHardwareCoB3.h");

        // get max Joint-Velocities (in rad/s) for Steer- and Drive-Joint
        iniFile.GetKeyInt("Config", "NumberOfMotors", &m_iNumMotors, true);
        iniFile.GetKeyInt("Config", "NumberOfWheels", &m_iNumDrives, true);

        if(m_iNumMotors < 2 || m_iNumMotors > 8) {
                m_iNumMotors = 8;
                m_iNumDrives = 4;
        }

        // ------------- first of all set used CanItf
        m_pCanCtrl = NULL;

        // ------------- init hardware-specific vectors and set default values
        m_vpMotor.resize(m_iNumMotors);

        for(int i=0; i<m_iNumMotors; i++)
        {
                m_vpMotor[i] = NULL;
        }

        m_viMotorID.resize(m_iNumMotors);

//      m_viMotorID.resize(8);
        if(m_iNumMotors >= 1)
                m_viMotorID[0] = CANNODE_WHEEL1DRIVEMOTOR;
        if(m_iNumMotors >= 2)
                m_viMotorID[1] = CANNODE_WHEEL1STEERMOTOR;
        if(m_iNumMotors >= 3)
                m_viMotorID[2] = CANNODE_WHEEL2DRIVEMOTOR;
        if(m_iNumMotors >= 4)
                m_viMotorID[3] = CANNODE_WHEEL2STEERMOTOR;
        if(m_iNumMotors >= 5)
                m_viMotorID[4] = CANNODE_WHEEL3DRIVEMOTOR;
        if(m_iNumMotors >= 6)
                m_viMotorID[5] = CANNODE_WHEEL3STEERMOTOR;
        if(m_iNumMotors >= 7)
                m_viMotorID[6] = CANNODE_WHEEL4DRIVEMOTOR;
        if(m_iNumMotors == 8)
                m_viMotorID[7] = CANNODE_WHEEL4STEERMOTOR;

        // ------------- parameters
        m_Param.dCanTimeout = 7;

        if(m_iNumMotors >= 1)
                m_Param.iHasWheel1DriveMotor = 0;
        if(m_iNumMotors >= 2)
                m_Param.iHasWheel1SteerMotor = 0;
        if(m_iNumMotors >= 3)
                m_Param.iHasWheel2DriveMotor = 0;
        if(m_iNumMotors >= 4)
                m_Param.iHasWheel2SteerMotor = 0;
        if(m_iNumMotors >= 5)
                m_Param.iHasWheel3DriveMotor = 0;
        if(m_iNumMotors >= 6)
                m_Param.iHasWheel3SteerMotor = 0;
        if(m_iNumMotors >= 7)
                m_Param.iHasWheel4DriveMotor = 0;
        if(m_iNumMotors == 8)
                m_Param.iHasWheel4SteerMotor = 0;

        m_Param.iHasRelayBoard = 0;
        m_Param.iHasIOBoard = 0;
        m_Param.iHasUSBoard = 0;
        m_Param.iHasGyroBoard = 0;
        m_Param.iHasRadarBoard = 0;     

        m_bWatchdogErr = false;
        
        // ------------ CanIds
        
        // ------------ For CanOpen (Harmonica)
        // Wheel 1
        // can adresse motor 1
        if(m_iNumMotors >= 1)
        {
                m_CanOpenIDParam.TxPDO1_W1Drive = 0x182;
                m_CanOpenIDParam.TxPDO2_W1Drive = 0x282;
                m_CanOpenIDParam.RxPDO2_W1Drive = 0x302;
                m_CanOpenIDParam.TxSDO_W1Drive = 0x582;
                m_CanOpenIDParam.RxSDO_W1Drive = 0x602;
        }
        // can adresse motor 2
        if(m_iNumMotors >= 2)
        {
                m_CanOpenIDParam.TxPDO1_W1Steer = 0x181;
                m_CanOpenIDParam.TxPDO2_W1Steer = 0x281;
                m_CanOpenIDParam.RxPDO2_W1Steer = 0x301;
                m_CanOpenIDParam.TxSDO_W1Steer = 0x581;
                m_CanOpenIDParam.RxSDO_W1Steer = 0x601;
        }
        // Wheel 2
        // can adresse motor 7
        if(m_iNumMotors >= 3)
        {
                m_CanOpenIDParam.TxPDO1_W2Drive = 0x184;
                m_CanOpenIDParam.TxPDO2_W2Drive = 0x284;
                m_CanOpenIDParam.RxPDO2_W2Drive = 0x304;
                m_CanOpenIDParam.TxSDO_W2Drive = 0x584;
                m_CanOpenIDParam.RxSDO_W2Drive = 0x604;
        }
        // can adresse motor 8
        if(m_iNumMotors >= 4)
        {
                m_CanOpenIDParam.TxPDO1_W2Steer = 0x183;
                m_CanOpenIDParam.TxPDO2_W2Steer = 0x283;
                m_CanOpenIDParam.RxPDO2_W2Steer = 0x303;
                m_CanOpenIDParam.TxSDO_W2Steer = 0x583;
                m_CanOpenIDParam.RxSDO_W2Steer = 0x603;
        }
        // Wheel 3
        // can adresse motor 5
        if(m_iNumMotors >= 5)
        {
                m_CanOpenIDParam.TxPDO1_W3Drive = 0x188;
                m_CanOpenIDParam.TxPDO2_W3Drive = 0x288;
                m_CanOpenIDParam.RxPDO2_W3Drive = 0x308;
                m_CanOpenIDParam.TxSDO_W3Drive = 0x588;
                m_CanOpenIDParam.RxSDO_W3Drive = 0x608;
        }
        // can adresse motor 6
        if(m_iNumMotors >= 6)
        {
                m_CanOpenIDParam.TxPDO1_W3Steer = 0x187;
                m_CanOpenIDParam.TxPDO2_W3Steer = 0x287;
                m_CanOpenIDParam.RxPDO2_W3Steer = 0x307;
                m_CanOpenIDParam.TxSDO_W3Steer = 0x587;
                m_CanOpenIDParam.RxSDO_W3Steer = 0x607;
        }
        // Wheel 4
        // can adresse motor 3
        if(m_iNumMotors >= 7)
        {
                m_CanOpenIDParam.TxPDO1_W4Drive = 0x186;
                m_CanOpenIDParam.TxPDO2_W4Drive = 0x286;
                m_CanOpenIDParam.RxPDO2_W4Drive = 0x306;
                m_CanOpenIDParam.TxSDO_W4Drive = 0x586;
                m_CanOpenIDParam.RxSDO_W4Drive = 0x606;
        }
        // can adresse motor 4
        if(m_iNumMotors == 8)
        {
                m_CanOpenIDParam.TxPDO1_W4Steer = 0x185;
                m_CanOpenIDParam.TxPDO2_W4Steer = 0x285;
                m_CanOpenIDParam.RxPDO2_W4Steer = 0x305;
                m_CanOpenIDParam.TxSDO_W4Steer = 0x585;
                m_CanOpenIDParam.RxSDO_W4Steer = 0x605;
        }
}

//-----------------------------------------------
CanCtrlPltfCOb3::~CanCtrlPltfCOb3()
{

        if (m_pCanCtrl != NULL)
        {
                delete m_pCanCtrl;
        }

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                if (m_vpMotor[i] != NULL)
                {
                        delete m_vpMotor[i];
                }
        }

}

//-----------------------------------------------
void CanCtrlPltfCOb3::readConfiguration()
{

        int iTypeCan = 0;
        int iMaxMessages = 0;

        DriveParam DriveParamW1DriveMotor;
        DriveParam DriveParamW1SteerMotor;
        DriveParam DriveParamW2DriveMotor;
        DriveParam DriveParamW2SteerMotor;
        DriveParam DriveParamW3DriveMotor;
        DriveParam DriveParamW3SteerMotor;
        DriveParam DriveParamW4DriveMotor;
        DriveParam DriveParamW4SteerMotor;
        
        std::string strTypeDrive;
        std::string strTypeSteer;

        double dScaleToMM;

        // read Platform.ini (Coupling of Drive/Steer for Homing)
        m_IniFile.SetFileName(sIniDirectory + "Platform.ini", "CanCtrlPltfCOb3.cpp");

        m_IniFile.GetKeyInt("Geom", "RadiusWheel", &m_Param.iRadiusWheelMM, true);
        m_IniFile.GetKeyInt("Geom", "DistSteerAxisToDriveWheelCenter", &m_Param.iDistSteerAxisToDriveWheelMM, true);

        if(m_iNumDrives >= 1)
                m_IniFile.GetKeyDouble("DrivePrms", "Wheel1SteerDriveCoupling", &m_Param.dWheel1SteerDriveCoupling, true);
        if(m_iNumDrives >= 2)
                m_IniFile.GetKeyDouble("DrivePrms", "Wheel2SteerDriveCoupling", &m_Param.dWheel2SteerDriveCoupling, true);
        if(m_iNumDrives >= 3)
                m_IniFile.GetKeyDouble("DrivePrms", "Wheel3SteerDriveCoupling", &m_Param.dWheel3SteerDriveCoupling, true);
        if(m_iNumDrives == 4)
                m_IniFile.GetKeyDouble("DrivePrms", "Wheel4SteerDriveCoupling", &m_Param.dWheel4SteerDriveCoupling, true);


        // read CanCtrl.ini
        m_IniFile.SetFileName(sIniDirectory + "CanCtrl.ini", "CanCtrlPltfCOb3.cpp");

        std::cout << "Can configuration of the platform:" << std::endl;
        
        // read Configuration of the Can-Network (CanCtrl.ini)
        m_IniFile.GetKeyInt("TypeCan", "Can", &iTypeCan, true);
        if (iTypeCan == 0)
        {
                sComposed = sIniDirectory;
                sComposed += "CanCtrl.ini";
                m_pCanCtrl = new CanPeakSys(sComposed.c_str());
                std::cout << "Uses CAN-Peak-Systems dongle" << std::endl;
        }
        else if (iTypeCan == 1)
        {
                sComposed = sIniDirectory;
                sComposed += "CanCtrl.ini";
                m_pCanCtrl = new CANPeakSysUSB(sComposed.c_str());
                std::cout << "Uses CAN-Peak-USB" << std::endl;
        }
        else if (iTypeCan == 2)
        {
                sComposed = sIniDirectory;
                sComposed += "CanCtrl.ini";
                m_pCanCtrl = new CanESD(sComposed.c_str(), false);
                std::cout << "Uses CAN-ESD-card" << std::endl;
        }

        // CanOpenId's ----- Default values (DESIRE)
        // Wheel 1
        // DriveMotor
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W1Drive", &m_CanOpenIDParam.TxPDO1_W1Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W1Drive", &m_CanOpenIDParam.TxPDO2_W1Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W1Drive", &m_CanOpenIDParam.RxPDO2_W1Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W1Drive", &m_CanOpenIDParam.TxSDO_W1Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W1Drive", &m_CanOpenIDParam.RxSDO_W1Drive, true);
        }
        // SteerMotor
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W1Steer", &m_CanOpenIDParam.TxPDO1_W1Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W1Steer", &m_CanOpenIDParam.TxPDO2_W1Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W1Steer", &m_CanOpenIDParam.RxPDO2_W1Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W1Steer", &m_CanOpenIDParam.TxSDO_W1Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W1Steer", &m_CanOpenIDParam.RxSDO_W1Steer, true);
        }
        
        // Wheel 2
        // DriveMotor
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W2Drive", &m_CanOpenIDParam.TxPDO1_W2Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W2Drive", &m_CanOpenIDParam.TxPDO2_W2Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W2Drive", &m_CanOpenIDParam.RxPDO2_W2Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W2Drive", &m_CanOpenIDParam.TxSDO_W2Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W2Drive", &m_CanOpenIDParam.RxSDO_W2Drive, true);
        }
        // SteerMotor
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W2Steer", &m_CanOpenIDParam.TxPDO1_W2Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W2Steer", &m_CanOpenIDParam.TxPDO2_W2Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W2Steer", &m_CanOpenIDParam.RxPDO2_W2Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W2Steer", &m_CanOpenIDParam.TxSDO_W2Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W2Steer", &m_CanOpenIDParam.RxSDO_W2Steer, true);
        }
        
        // Wheel 3
        // DriveMotor
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W3Drive", &m_CanOpenIDParam.TxPDO1_W3Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W3Drive", &m_CanOpenIDParam.TxPDO2_W3Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W3Drive", &m_CanOpenIDParam.RxPDO2_W3Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W3Drive", &m_CanOpenIDParam.TxSDO_W3Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W3Drive", &m_CanOpenIDParam.RxSDO_W3Drive, true);
        }
        // SteerMotor
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W3Steer", &m_CanOpenIDParam.TxPDO1_W3Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W3Steer", &m_CanOpenIDParam.TxPDO2_W3Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W3Steer", &m_CanOpenIDParam.RxPDO2_W3Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W3Steer", &m_CanOpenIDParam.TxSDO_W3Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W3Steer", &m_CanOpenIDParam.RxSDO_W3Steer, true);
        }
        
        // Wheel 4
        // DriveMotor
        if(m_iNumDrives >= 4)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W4Drive", &m_CanOpenIDParam.TxPDO1_W4Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W4Drive", &m_CanOpenIDParam.TxPDO2_W4Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W4Drive", &m_CanOpenIDParam.RxPDO2_W4Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W4Drive", &m_CanOpenIDParam.TxSDO_W4Drive, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W4Drive", &m_CanOpenIDParam.RxSDO_W4Drive, true);
        }
        // SteerMotor
        if(m_iNumDrives == 4)
        {
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO1_W4Steer", &m_CanOpenIDParam.TxPDO1_W4Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxPDO2_W4Steer", &m_CanOpenIDParam.TxPDO2_W4Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxPDO2_W4Steer", &m_CanOpenIDParam.RxPDO2_W4Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "TxSDO_W4Steer", &m_CanOpenIDParam.TxSDO_W4Steer, true);
                m_IniFile.GetKeyInt("CanOpenIDs", "RxSDO_W4Steer", &m_CanOpenIDParam.RxSDO_W4Steer, true);
        }

        // read configuration of the Drives (CanCtrl.ini)
        /* Drivemotor1-Parameters Old
        m_IniFile.GetKeyString("TypeDrive", "Drive1", &strTypeDrive, true);     
        m_IniFile.GetKeyInt(strTypeDrive.c_str(), "EncIncrPerRevMot", &(m_GearMotDrive1.iEncIncrPerRevMot), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "VelMeasFrqHz", &(m_GearMotDrive1.dVelMeasFrqHz), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "BeltRatio", &(m_GearMotDrive1.dBeltRatio), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "GearRatio", &(m_GearMotDrive1.dGearRatio), true);
        m_IniFile.GetKeyInt(strTypeDrive.c_str(), "Sign", &(m_GearMotDrive1.iSign), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "VelMaxEncIncrS", &(m_GearMotDrive1.dVelMaxEncIncrS), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "AccIncrS", &(m_GearMotDrive1.dAccIncrS2), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "DecIncrS", &(m_GearMotDrive1.dDecIncrS2), true);
        m_IniFile.GetKeyDouble(strTypeDrive.c_str(), "EncOffsetIncr",&(m_GearMotDrive1.iEncOffsetIncr),true);
        */

        // "Drive Motor Type1" drive parameters 
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("Drive1", "EncIncrPerRevMot", &(m_GearMotDrive1.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Drive1", "VelMeasFrqHz", &(m_GearMotDrive1.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Drive1", "BeltRatio", &(m_GearMotDrive1.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Drive1", "GearRatio", &(m_GearMotDrive1.dGearRatio), true);
                m_IniFile.GetKeyInt("Drive1", "Sign", &(m_GearMotDrive1.iSign), true);
                m_IniFile.GetKeyDouble("Drive1", "VelMaxEncIncrS", &(m_GearMotDrive1.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Drive1", "AccIncrS", &(m_GearMotDrive1.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Drive1", "DecIncrS", &(m_GearMotDrive1.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Drive1", "EncOffsetIncr",&(m_GearMotDrive1.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Drive1", "IsSteering", &(m_GearMotDrive1.bIsSteer), true);
                m_IniFile.GetKeyDouble("Drive1", "CurrentToTorque", &(m_GearMotDrive1.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Drive1", "CurrMax", &(m_GearMotDrive1.dCurrMax), false);
                m_IniFile.GetKeyInt("Drive1", "HomingDigIn", &(m_GearMotDrive1.iHomingDigIn), false);
        }

        // "Drive Motor Type2" drive parameters 
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("Drive2", "EncIncrPerRevMot", &(m_GearMotDrive2.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Drive2", "VelMeasFrqHz", &(m_GearMotDrive2.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Drive2", "BeltRatio", &(m_GearMotDrive2.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Drive2", "GearRatio", &(m_GearMotDrive2.dGearRatio), true);
                m_IniFile.GetKeyInt("Drive2", "Sign", &(m_GearMotDrive2.iSign), true);
                m_IniFile.GetKeyDouble("Drive2", "VelMaxEncIncrS", &(m_GearMotDrive2.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Drive2", "AccIncrS", &(m_GearMotDrive2.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Drive2", "DecIncrS", &(m_GearMotDrive2.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Drive2", "EncOffsetIncr",&(m_GearMotDrive2.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Drive2", "IsSteering", &(m_GearMotDrive2.bIsSteer), true);
                m_IniFile.GetKeyDouble("Drive2", "CurrentToTorque", &(m_GearMotDrive2.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Drive2", "CurrMax", &(m_GearMotDrive2.dCurrMax), false);
                m_IniFile.GetKeyInt("Drive2", "HomingDigIn", &(m_GearMotDrive2.iHomingDigIn), false);
        }

        // "Drive Motor Type3" drive parameters 
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("Drive3", "EncIncrPerRevMot", &(m_GearMotDrive3.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Drive3", "VelMeasFrqHz", &(m_GearMotDrive3.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Drive3", "BeltRatio", &(m_GearMotDrive3.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Drive3", "GearRatio", &(m_GearMotDrive3.dGearRatio), true);
                m_IniFile.GetKeyInt("Drive3", "Sign", &(m_GearMotDrive3.iSign), true);
                m_IniFile.GetKeyDouble("Drive3", "VelMaxEncIncrS", &(m_GearMotDrive3.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Drive3", "AccIncrS", &(m_GearMotDrive3.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Drive3", "DecIncrS", &(m_GearMotDrive3.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Drive3", "EncOffsetIncr",&(m_GearMotDrive3.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Drive3", "IsSteering", &(m_GearMotDrive3.bIsSteer), true);
                m_IniFile.GetKeyDouble("Drive3", "CurrentToTorque", &(m_GearMotDrive3.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Drive3", "CurrMax", &(m_GearMotDrive3.dCurrMax), false);
                m_IniFile.GetKeyInt("Drive3", "HomingDigIn", &(m_GearMotDrive3.iHomingDigIn), false);
        }

        // "Drive Motor Type4" drive parameters 
        if(m_iNumDrives == 4)
        {
                m_IniFile.GetKeyInt("Drive4", "EncIncrPerRevMot", &(m_GearMotDrive4.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Drive4", "VelMeasFrqHz", &(m_GearMotDrive4.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Drive4", "BeltRatio", &(m_GearMotDrive4.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Drive4", "GearRatio", &(m_GearMotDrive4.dGearRatio), true);
                m_IniFile.GetKeyInt("Drive4", "Sign", &(m_GearMotDrive4.iSign), true);
                m_IniFile.GetKeyDouble("Drive4", "VelMaxEncIncrS", &(m_GearMotDrive4.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Drive4", "AccIncrS", &(m_GearMotDrive4.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Drive4", "DecIncrS", &(m_GearMotDrive4.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Drive4", "EncOffsetIncr",&(m_GearMotDrive4.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Drive4", "IsSteering", &(m_GearMotDrive4.bIsSteer), true);
                m_IniFile.GetKeyDouble("Drive4", "CurrentToTorque", &(m_GearMotDrive4.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Drive4", "CurrMax", &(m_GearMotDrive4.dCurrMax), false);
                m_IniFile.GetKeyInt("Drive4", "HomingDigIn", &(m_GearMotDrive4.iHomingDigIn), false);
        }

        // "Steer Motor Type1" drive parameters 
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("Steer1", "EncIncrPerRevMot", &(m_GearMotSteer1.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Steer1", "VelMeasFrqHz", &(m_GearMotSteer1.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Steer1", "BeltRatio", &(m_GearMotSteer1.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Steer1", "GearRatio", &(m_GearMotSteer1.dGearRatio), true);
                m_IniFile.GetKeyInt("Steer1", "Sign", &(m_GearMotSteer1.iSign), true);
                m_IniFile.GetKeyDouble("Steer1", "VelMaxEncIncrS", &(m_GearMotSteer1.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Steer1", "AccIncrS", &(m_GearMotSteer1.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Steer1", "DecIncrS", &(m_GearMotSteer1.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Steer1", "EncOffsetIncr",&(m_GearMotSteer1.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Steer1", "IsSteering", &(m_GearMotSteer1.bIsSteer), true);
                m_IniFile.GetKeyDouble("Steer1", "CurrentToTorque", &(m_GearMotSteer1.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Steer1", "CurrMax", &(m_GearMotSteer1.dCurrMax), false);
                m_IniFile.GetKeyInt("Steer1", "HomingDigIn", &(m_GearMotSteer1.iHomingDigIn), false);
        }

        // "Steer Motor Type2" drive parameters 
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("Steer2", "EncIncrPerRevMot", &(m_GearMotSteer2.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Steer2", "VelMeasFrqHz", &(m_GearMotSteer2.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Steer2", "BeltRatio", &(m_GearMotSteer2.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Steer2", "GearRatio", &(m_GearMotSteer2.dGearRatio), true);
                m_IniFile.GetKeyInt("Steer2", "Sign", &(m_GearMotSteer2.iSign), true);
                m_IniFile.GetKeyDouble("Steer2", "VelMaxEncIncrS", &(m_GearMotSteer2.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Steer2", "AccIncrS", &(m_GearMotSteer2.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Steer2", "DecIncrS", &(m_GearMotSteer2.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Steer2", "EncOffsetIncr",&(m_GearMotSteer2.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Steer2", "IsSteering", &(m_GearMotSteer2.bIsSteer), true);
                m_IniFile.GetKeyDouble("Steer2", "CurrentToTorque", &(m_GearMotSteer2.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Steer2", "CurrMax", &(m_GearMotSteer2.dCurrMax), false);
                m_IniFile.GetKeyInt("Steer2", "HomingDigIn", &(m_GearMotSteer2.iHomingDigIn), false);
        }

        // "Steer Motor Type3" drive parameters 
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("Steer3", "EncIncrPerRevMot", &(m_GearMotSteer3.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Steer3", "VelMeasFrqHz", &(m_GearMotSteer3.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Steer3", "BeltRatio", &(m_GearMotSteer3.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Steer3", "GearRatio", &(m_GearMotSteer3.dGearRatio), true);
                m_IniFile.GetKeyInt("Steer3", "Sign", &(m_GearMotSteer3.iSign), true);
                m_IniFile.GetKeyDouble("Steer3", "VelMaxEncIncrS", &(m_GearMotSteer3.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Steer3", "AccIncrS", &(m_GearMotSteer3.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Steer3", "DecIncrS", &(m_GearMotSteer3.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Steer3", "EncOffsetIncr",&(m_GearMotSteer3.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Steer3", "IsSteering", &(m_GearMotSteer3.bIsSteer), true);
                m_IniFile.GetKeyDouble("Steer3", "CurrentToTorque", &(m_GearMotSteer3.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Steer3", "CurrMax", &(m_GearMotSteer3.dCurrMax), false);
                m_IniFile.GetKeyInt("Steer3", "HomingDigIn", &(m_GearMotSteer3.iHomingDigIn), false);
        }

        // "Steer Motor Type4" drive parameters 
        if(m_iNumDrives == 4)
        {
                m_IniFile.GetKeyInt("Steer4", "EncIncrPerRevMot", &(m_GearMotSteer4.iEncIncrPerRevMot), true);
                m_IniFile.GetKeyDouble("Steer4", "VelMeasFrqHz", &(m_GearMotSteer4.dVelMeasFrqHz), true);
                m_IniFile.GetKeyDouble("Steer4", "BeltRatio", &(m_GearMotSteer4.dBeltRatio), true);
                m_IniFile.GetKeyDouble("Steer4", "GearRatio", &(m_GearMotSteer4.dGearRatio), true);
                m_IniFile.GetKeyInt("Steer4", "Sign", &(m_GearMotSteer4.iSign), true);
                m_IniFile.GetKeyDouble("Steer4", "VelMaxEncIncrS", &(m_GearMotSteer4.dVelMaxEncIncrS), true);
                m_IniFile.GetKeyDouble("Steer4", "AccIncrS", &(m_GearMotSteer4.dAccIncrS2), true);
                m_IniFile.GetKeyDouble("Steer4", "DecIncrS", &(m_GearMotSteer4.dDecIncrS2), true);
                m_IniFile.GetKeyInt("Steer4", "EncOffsetIncr",&(m_GearMotSteer4.iEncOffsetIncr),true);
                m_IniFile.GetKeyBool("Steer4", "IsSteering", &(m_GearMotSteer4.bIsSteer), true);
                m_IniFile.GetKeyDouble("Steer4", "CurrentToTorque", &(m_GearMotSteer4.dCurrentToTorque), false);
                m_IniFile.GetKeyDouble("Steer4", "CurrMax", &(m_GearMotSteer4.dCurrMax), false);
                m_IniFile.GetKeyInt("Steer4", "HomingDigIn", &(m_GearMotSteer4.iHomingDigIn), false);
        }

        if(m_iNumDrives >= 1)
        {
                DriveParamW1DriveMotor.setParam(
                        0,
                        m_GearMotDrive1.iEncIncrPerRevMot,
                        m_GearMotDrive1.dVelMeasFrqHz,
                        m_GearMotDrive1.dBeltRatio,
                        m_GearMotDrive1.dGearRatio,
                        m_GearMotDrive1.iSign,
                        m_GearMotDrive1.dVelMaxEncIncrS,
                        m_GearMotDrive1.dAccIncrS2,
                        m_GearMotDrive1.dDecIncrS2,
                        m_GearMotDrive1.iEncOffsetIncr,
                        m_GearMotDrive1.bIsSteer,
                        m_GearMotDrive1.dCurrentToTorque,
                        m_GearMotDrive1.dCurrMax,
                        m_GearMotDrive1.iHomingDigIn);
        }
        
        if(m_iNumDrives >= 1)
        {
                DriveParamW1SteerMotor.setParam(
                        1,
                        m_GearMotSteer1.iEncIncrPerRevMot,
                        m_GearMotSteer1.dVelMeasFrqHz,
                        m_GearMotSteer1.dBeltRatio,
                        m_GearMotSteer1.dGearRatio,
                        m_GearMotSteer1.iSign,
                        m_GearMotSteer1.dVelMaxEncIncrS,
                        m_GearMotSteer1.dAccIncrS2,
                        m_GearMotSteer1.dDecIncrS2,
                        m_GearMotSteer1.iEncOffsetIncr,
                        m_GearMotSteer1.bIsSteer,
                        m_GearMotSteer1.dCurrentToTorque,
                        m_GearMotSteer1.dCurrMax,
                        m_GearMotSteer1.iHomingDigIn);
        }

        if(m_iNumDrives >= 2)
        {
                DriveParamW2DriveMotor.setParam(
                        2,
                        m_GearMotDrive2.iEncIncrPerRevMot,
                        m_GearMotDrive2.dVelMeasFrqHz,
                        m_GearMotDrive2.dBeltRatio,
                        m_GearMotDrive2.dGearRatio,
                        m_GearMotDrive2.iSign,
                        m_GearMotDrive2.dVelMaxEncIncrS,
                        m_GearMotDrive2.dAccIncrS2,
                        m_GearMotDrive2.dDecIncrS2,
                        m_GearMotDrive2.iEncOffsetIncr,
                        m_GearMotDrive2.bIsSteer,
                        m_GearMotDrive2.dCurrentToTorque,
                        m_GearMotDrive2.dCurrMax,
                        m_GearMotDrive2.iHomingDigIn);
        }
        
        if(m_iNumDrives >= 2)
        {
                DriveParamW2SteerMotor.setParam(
                        3,
                        m_GearMotSteer2.iEncIncrPerRevMot,
                        m_GearMotSteer2.dVelMeasFrqHz,
                        m_GearMotSteer2.dBeltRatio,
                        m_GearMotSteer2.dGearRatio,
                        m_GearMotSteer2.iSign,
                        m_GearMotSteer2.dVelMaxEncIncrS,
                        m_GearMotSteer2.dAccIncrS2,
                        m_GearMotSteer2.dDecIncrS2,
                        m_GearMotSteer2.iEncOffsetIncr,
                        m_GearMotSteer2.bIsSteer,
                        m_GearMotSteer2.dCurrentToTorque,
                        m_GearMotSteer2.dCurrMax,
                        m_GearMotSteer2.iHomingDigIn);
        }

        if(m_iNumDrives >= 3)
        {
                DriveParamW3DriveMotor.setParam(
                        4,
                        m_GearMotDrive3.iEncIncrPerRevMot,
                        m_GearMotDrive3.dVelMeasFrqHz,
                        m_GearMotDrive3.dBeltRatio,
                        m_GearMotDrive3.dGearRatio,
                        m_GearMotDrive3.iSign,
                        m_GearMotDrive3.dVelMaxEncIncrS,
                        m_GearMotDrive3.dAccIncrS2,
                        m_GearMotDrive3.dDecIncrS2,
                        m_GearMotDrive3.iEncOffsetIncr,
                        m_GearMotDrive3.bIsSteer,
                        m_GearMotDrive3.dCurrentToTorque,
                        m_GearMotDrive3.dCurrMax,
                        m_GearMotDrive3.iHomingDigIn);
        }
        
        if(m_iNumDrives >= 3)
        {
                DriveParamW3SteerMotor.setParam(
                        5,
                        m_GearMotSteer3.iEncIncrPerRevMot,
                        m_GearMotSteer3.dVelMeasFrqHz,
                        m_GearMotSteer3.dBeltRatio,
                        m_GearMotSteer3.dGearRatio,
                        m_GearMotSteer3.iSign,
                        m_GearMotSteer3.dVelMaxEncIncrS,
                        m_GearMotSteer3.dAccIncrS2,
                        m_GearMotSteer3.dDecIncrS2,
                        m_GearMotSteer3.iEncOffsetIncr,
                        m_GearMotSteer3.bIsSteer,
                        m_GearMotSteer3.dCurrentToTorque,
                        m_GearMotSteer3.dCurrMax,
                        m_GearMotSteer3.iHomingDigIn);
        }

        if(m_iNumDrives == 4)
        {
                DriveParamW4DriveMotor.setParam(
                        6,
                        m_GearMotDrive4.iEncIncrPerRevMot,
                        m_GearMotDrive4.dVelMeasFrqHz,
                        m_GearMotDrive4.dBeltRatio,
                        m_GearMotDrive4.dGearRatio,
                        m_GearMotDrive4.iSign,
                        m_GearMotDrive4.dVelMaxEncIncrS,
                        m_GearMotDrive4.dAccIncrS2,
                        m_GearMotDrive4.dDecIncrS2,
                        m_GearMotDrive4.iEncOffsetIncr,
                        m_GearMotDrive4.bIsSteer,
                        m_GearMotDrive4.dCurrentToTorque,
                        m_GearMotDrive4.dCurrMax,
                        m_GearMotDrive4.iHomingDigIn);
        }
        
        if(m_iNumDrives == 4)
        {
                DriveParamW4SteerMotor.setParam(
                        7,
                        m_GearMotSteer4.iEncIncrPerRevMot,
                        m_GearMotSteer4.dVelMeasFrqHz,
                        m_GearMotSteer4.dBeltRatio,
                        m_GearMotSteer4.dGearRatio,
                        m_GearMotSteer4.iSign,
                        m_GearMotSteer4.dVelMaxEncIncrS,
                        m_GearMotSteer4.dAccIncrS2,
                        m_GearMotSteer4.dDecIncrS2,
                        m_GearMotSteer4.iEncOffsetIncr,
                        m_GearMotSteer4.bIsSteer,
                        m_GearMotSteer4.dCurrentToTorque,
                        m_GearMotSteer4.dCurrMax,
                        m_GearMotSteer4.iHomingDigIn);
        }
        
        m_IniFile.GetKeyDouble("US", "ScaleToMM", &dScaleToMM, true);


        // read Platform.ini
        m_IniFile.SetFileName(sIniDirectory + "Platform.ini", "CanCtrlPltfCOb3.cpp");


        // ------ WHEEL 1 ------ //
        // --- Motor Wheel 1 Drive
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("Config", "Wheel1DriveMotor", &m_Param.iHasWheel1DriveMotor, true);
                if (m_Param.iHasWheel1DriveMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel1DriveMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel1DriveMotor available = type version 2" << std::endl;
                        m_vpMotor[0] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[0])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W1Drive, m_CanOpenIDParam.TxPDO2_W1Drive, m_CanOpenIDParam.RxPDO2_W1Drive,
                                m_CanOpenIDParam.TxSDO_W1Drive, m_CanOpenIDParam.RxSDO_W1Drive);
                        m_vpMotor[0]->setCanItf(m_pCanCtrl);
                        m_vpMotor[0]->setDriveParam(DriveParamW1DriveMotor);
                }
        }

        // --- Motor Wheel 1 Steer
        if(m_iNumDrives >= 1)
        {
                m_IniFile.GetKeyInt("Config", "Wheel1SteerMotor", &m_Param.iHasWheel1SteerMotor, true);
                if (m_Param.iHasWheel1SteerMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel1SteerMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel1SteerMotor available = type version 2" << std::endl;
                        m_vpMotor[1] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[1])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W1Steer, m_CanOpenIDParam.TxPDO2_W1Steer, m_CanOpenIDParam.RxPDO2_W1Steer,
                                m_CanOpenIDParam.TxSDO_W1Steer, m_CanOpenIDParam.RxSDO_W1Steer);
                        m_vpMotor[1]->setCanItf(m_pCanCtrl);
                        m_vpMotor[1]->setDriveParam(DriveParamW1SteerMotor);

                }
        }
        
        // ------ WHEEL 2 ------ //
        // --- Motor Wheel 2 Drive
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("Config", "Wheel2DriveMotor", &m_Param.iHasWheel2DriveMotor, true);
                if (m_Param.iHasWheel2DriveMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel2DriveMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel2DriveMotor available = type version 2" << std::endl;
                        m_vpMotor[2] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[2])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W2Drive, m_CanOpenIDParam.TxPDO2_W2Drive, m_CanOpenIDParam.RxPDO2_W2Drive,
                                m_CanOpenIDParam.TxSDO_W2Drive, m_CanOpenIDParam.RxSDO_W2Drive);
                        m_vpMotor[2]->setCanItf(m_pCanCtrl);
                        m_vpMotor[2]->setDriveParam(DriveParamW2DriveMotor);
                }
        }

        // --- Motor Wheel 2 Steer
        if(m_iNumDrives >= 2)
        {
                m_IniFile.GetKeyInt("Config", "Wheel2SteerMotor", &m_Param.iHasWheel2SteerMotor, true);
                if (m_Param.iHasWheel2SteerMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel2SteerMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel2SteerMotor available = type version 2" << std::endl;
                        m_vpMotor[3] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[3])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W2Steer, m_CanOpenIDParam.TxPDO2_W2Steer, m_CanOpenIDParam.RxPDO2_W2Steer,
                                m_CanOpenIDParam.TxSDO_W2Steer, m_CanOpenIDParam.RxSDO_W2Steer);
                        m_vpMotor[3]->setCanItf(m_pCanCtrl);
                        m_vpMotor[3]->setDriveParam(DriveParamW2SteerMotor);

                }
        }
        
        // ------ WHEEL 3 ------ //
        // --- Motor Wheel 3 Drive
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("Config", "Wheel3DriveMotor", &m_Param.iHasWheel3DriveMotor, true);
                if (m_Param.iHasWheel3DriveMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel3DriveMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel3DriveMotor available = type version 2" << std::endl;
                        m_vpMotor[4] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[4])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W3Drive, m_CanOpenIDParam.TxPDO2_W3Drive, m_CanOpenIDParam.RxPDO2_W3Drive,
                                m_CanOpenIDParam.TxSDO_W3Drive, m_CanOpenIDParam.RxSDO_W3Drive);
                        m_vpMotor[4]->setCanItf(m_pCanCtrl);
                        m_vpMotor[4]->setDriveParam(DriveParamW3DriveMotor);
                }
        }

        // --- Motor Wheel 3 Steer
        if(m_iNumDrives >= 3)
        {
                m_IniFile.GetKeyInt("Config", "Wheel3SteerMotor", &m_Param.iHasWheel3SteerMotor, true);
                if (m_Param.iHasWheel3SteerMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel3SteerMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel3SteerMotor available = type version 2" << std::endl;
                        m_vpMotor[5] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[5])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W3Steer, m_CanOpenIDParam.TxPDO2_W3Steer, m_CanOpenIDParam.RxPDO2_W3Steer,
                                m_CanOpenIDParam.TxSDO_W3Steer, m_CanOpenIDParam.RxSDO_W3Steer);
                        m_vpMotor[5]->setCanItf(m_pCanCtrl);
                        m_vpMotor[5]->setDriveParam(DriveParamW3SteerMotor);

                }
        }
        
        // ------ WHEEL 4 ------ //
        // --- Motor Wheel 4 Drive
        if(m_iNumDrives == 4)
        {
                m_IniFile.GetKeyInt("Config", "Wheel4DriveMotor", &m_Param.iHasWheel4DriveMotor, true);
                if (m_Param.iHasWheel4DriveMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel4DriveMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel4DriveMotor available = type version 2" << std::endl;
                        m_vpMotor[6] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[6])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W4Drive, m_CanOpenIDParam.TxPDO2_W4Drive, m_CanOpenIDParam.RxPDO2_W4Drive,
                                m_CanOpenIDParam.TxSDO_W4Drive, m_CanOpenIDParam.RxSDO_W4Drive);
                        m_vpMotor[6]->setCanItf(m_pCanCtrl);
                        m_vpMotor[6]->setDriveParam(DriveParamW4DriveMotor);
                }
        }

        // --- Motor Wheel 4 Steer
        if(m_iNumDrives == 4)
        {
                m_IniFile.GetKeyInt("Config", "Wheel4SteerMotor", &m_Param.iHasWheel4SteerMotor, true);
                if (m_Param.iHasWheel4SteerMotor == 0)
                {
                        // No motor
                        std::cout << "node Wheel4SteerMotor available = 0" << std::endl;
                }
                else
                {
                        // Motor Harmonica
                        std::cout << "Wheel4SteerMotor available = type version 2" << std::endl;
                        m_vpMotor[7] = new CanDriveHarmonica();
                        ((CanDriveHarmonica*) m_vpMotor[7])->setCanOpenParam(
                                m_CanOpenIDParam.TxPDO1_W4Steer, m_CanOpenIDParam.TxPDO2_W4Steer, m_CanOpenIDParam.RxPDO2_W4Steer,
                                m_CanOpenIDParam.TxSDO_W4Steer, m_CanOpenIDParam.RxSDO_W4Steer);
                        m_vpMotor[7]->setCanItf(m_pCanCtrl);
                        m_vpMotor[7]->setDriveParam(DriveParamW4SteerMotor);

                }
        }

        m_IniFile.GetKeyInt("Config", "GenericBufferLen", &iMaxMessages, true);


}

//-----------------------------------------------
int CanCtrlPltfCOb3::evalCanBuffer()
{
        bool bRet;
//      char cBuf[200];
        
        m_Mutex.lock();

        // as long as there is something in the can buffer -> read out next message
        while(m_pCanCtrl->receiveMsg(&m_CanMsgRec) == true)
        {
                bRet = false;
                // check for every motor if message belongs to it
                for (unsigned int i = 0; i < m_vpMotor.size(); i++)
                {
                        // if message belongs to this motor write data (Pos, Vel, ...) to internal member vars
                        bRet |= m_vpMotor[i]->evalReceivedMsg(m_CanMsgRec);
                }

                if (bRet == false)
                {
                        std::cout << "evalCanBuffer(): Received CAN_Message with unknown identifier " << m_CanMsgRec.m_iID << std::endl;
                }               
        };
        

        m_Mutex.unlock();

        return 0;
}

//-----------------------------------------------
bool CanCtrlPltfCOb3::initPltf()
{       
        // read Configuration parameters from Inifile
        readConfiguration();
                
        // Vectors for drive objects and return values
        std::vector<bool> vbRetDriveMotor;
        std::vector<bool> vbRetSteerMotor;
        std::vector<CanDriveItf*> vpDriveMotor;
        std::vector<CanDriveItf*> vpSteerMotor;
        bool bHomingOk;

//      vbRetDriveMotor.assign(4,0);
//      vbRetSteerMotor.assign(4,0);
        vbRetDriveMotor.assign(m_iNumDrives,0);
        vbRetSteerMotor.assign(m_iNumDrives,0);

        // Homing is done on a wheel-module base (steering and driving needs to be synchronized) 
        // copy Motor-Pointer into Steer/Drive vector for more insight
        for(int i=0; i<=m_iNumMotors; i+=2)
                vpDriveMotor.push_back(m_vpMotor[i]);
//      vpDriveMotor.push_back(m_vpMotor[2]);
//      vpDriveMotor.push_back(m_vpMotor[4]);
//      vpDriveMotor.push_back(m_vpMotor[6]);
        for(int i=1; i<=m_iNumMotors; i+=2)
                vpSteerMotor.push_back(m_vpMotor[i]);
//      vpSteerMotor.push_back(m_vpMotor[3]);
//      vpSteerMotor.push_back(m_vpMotor[5]);
//      vpSteerMotor.push_back(m_vpMotor[7]);

        std::vector<double> vdFactorVel;
//      vdFactorVel.assign(4,0);
        vdFactorVel.assign(m_iNumDrives,0);
        double dhomeVeloRadS = -1.0;


        // Start can open network
        std::cout << "StartCanOpen" << std::endl;
        sendNetStartCanOpen();
        

        // initialize drives
        
        // 1st init watchdogs
        std::cout << "Initialization of Watchdogs" << std::endl;
        for(int i=0; i<m_iNumMotors; i++)
        {
                m_vpMotor[i]->startWatchdog(true);
        }
/*      m_vpMotor[0]->startWatchdog(true);
        m_vpMotor[1]->startWatchdog(true);
        m_vpMotor[2]->startWatchdog(true);
        m_vpMotor[3]->startWatchdog(true);
        m_vpMotor[4]->startWatchdog(true);
        m_vpMotor[5]->startWatchdog(true);
        m_vpMotor[6]->startWatchdog(true);
        m_vpMotor[7]->startWatchdog(true);
*/
        usleep(10000);
        
        // 2nd send watchdogs to bed while initializing drives
        for(int i=0; i<m_iNumMotors; i++)
        {
                m_vpMotor[i]->startWatchdog(false);
        }
/*      m_vpMotor[0]->startWatchdog(false);
        m_vpMotor[1]->startWatchdog(false);
        m_vpMotor[2]->startWatchdog(false);
        m_vpMotor[3]->startWatchdog(false);
        m_vpMotor[4]->startWatchdog(false);
        m_vpMotor[5]->startWatchdog(false);
        m_vpMotor[6]->startWatchdog(false);
        m_vpMotor[7]->startWatchdog(false);
*/
        usleep(100000);

        std::cout << "Initialization of Watchdogs done" << std::endl;


        // ---------------------- start homing procedurs
        // Perform homing of all wheels simultaneously
        // o.k. to avoid crashing hardware -> lets check that we have at least the 8 motors, like we have on cob
        if( (int)m_vpMotor.size() == m_iNumMotors )
        {
                // Initialize and start all motors
                for (int i = 0; i<m_iNumDrives; i++)
                {
                        // init + start
                        vbRetDriveMotor[i] = vpDriveMotor[i]->init();
                        vbRetSteerMotor[i] = vpSteerMotor[i]->init();
                        usleep(10000);
                        vbRetDriveMotor[i] = vbRetDriveMotor[i] && vpDriveMotor[i]->start();
                        vbRetSteerMotor[i] = vbRetSteerMotor[i] && vpSteerMotor[i]->start();
                        usleep(10000);
                        // output State / Errors
                        if (vbRetDriveMotor[i] && vbRetSteerMotor[i])
                                std::cout << "Initialization of Wheel "<< (i+1) << " OK" << std::endl;
                        else if (!vbRetDriveMotor[i] && vbRetSteerMotor[i])
                                std::cout << "Initialization of Wheel "<< (i+1) << " ERROR while initializing DRIVE-Motor" << std::endl;
                        else if (vbRetDriveMotor[i] && !vbRetSteerMotor[i])
                                std::cout << "Initialization of Wheel "<< (i+1) << " ERROR while initializing STEER-Motor" << std::endl;
                        else
                                std::cout << "Initialization of Wheel "<< (i+1) << " ERROR while initializing STEER- and DRIVE-Motor" << std::endl;
                        // Just to be sure: Set vel to zero
                        vpDriveMotor[i]->setGearVelRadS(0);
                        vpSteerMotor[i]->setGearVelRadS(0);
                }       
                
                // perform homing only when ALL drives are ERROR-Free
//              if (vbRetDriveMotor[0] && vbRetDriveMotor[1] && vbRetDriveMotor[2] && vbRetDriveMotor[3] &&
//                      vbRetSteerMotor[0] && vbRetSteerMotor[1] && vbRetSteerMotor[2] && vbRetSteerMotor[3])
                bHomingOk = true;
                for(int i=0; i<m_iNumDrives; i++)
                {
                        if((vbRetDriveMotor[i] && vbRetSteerMotor[i]) == false)
                                bHomingOk = false;
                }
                if(bHomingOk)
                {
                        // Calc Compensation factor for Velocity:
                        if(m_iNumDrives >= 1)
                                vdFactorVel[0] = - m_Param.dWheel1SteerDriveCoupling + double(m_Param.iDistSteerAxisToDriveWheelMM) / double(m_Param.iRadiusWheelMM);
                        if(m_iNumDrives >= 2)
                                vdFactorVel[1] = - m_Param.dWheel2SteerDriveCoupling + double(m_Param.iDistSteerAxisToDriveWheelMM) / double(m_Param.iRadiusWheelMM);
                        if(m_iNumDrives >= 3)
                                vdFactorVel[2] = - m_Param.dWheel3SteerDriveCoupling + double(m_Param.iDistSteerAxisToDriveWheelMM) / double(m_Param.iRadiusWheelMM);
                        if(m_iNumDrives == 4)
                                vdFactorVel[3] = - m_Param.dWheel4SteerDriveCoupling + double(m_Param.iDistSteerAxisToDriveWheelMM) / double(m_Param.iRadiusWheelMM);

                        // initialize homing procedure
                        for (int i = 0; i<m_iNumDrives; i++)
                                vpSteerMotor[i]->initHoming();                                          
                        
                        // make motors move
                        for (int i = 0; i<m_iNumDrives; i++)
                        {
                                vpSteerMotor[i]->setGearVelRadS(dhomeVeloRadS);
                                vpDriveMotor[i]->setGearVelRadS(dhomeVeloRadS * vdFactorVel[i]);
                        }

                        // wait at least 0.5 sec.
                        usleep(500000);

                        // Get rid of unnecessary can messages
                        bool bRet;
                        do
                                bRet = m_pCanCtrl->receiveMsg(&m_CanMsgRec);
                        while(bRet == true);

                        // arm homing procedure
                        for (int i = 0; i<m_iNumDrives; i++)
                                vpSteerMotor[i]->IntprtSetInt(8, 'H', 'M', 1, 1);

                        // wait until all steers are homed                      
                        bool bAllDone, bTimeOut=false;
                        int iCnt = 0;
                        do
                        {
                                // send request for homing status
                                for (int i = 0; i<m_iNumDrives; i++)
                                        vpSteerMotor[i]->IntprtSetInt(4, 'H', 'M', 1, 0);
                                
                                // eval Can Messages
                                evalCanBuffer();

                                // set already homed wheels to zero velocity
                                bAllDone = true;
                                for (int i = 0; i<m_iNumDrives; i++)
                                {
                                        if (vpSteerMotor[i]->getStatusLimitSwitch())
                                        {
                                                vpSteerMotor[i]->setGearVelRadS(0);
                                                vpDriveMotor[i]->setGearVelRadS(0);
                                        }
                                        bAllDone = bAllDone && vpSteerMotor[i]->getStatusLimitSwitch();
                                }       

                                // increment timeout counter
                                if (iCnt++ > 1000) //cpc-ck has 500 for Cob 3.5 here
                                        bTimeOut = true;

                                // Sleep: To avoid can overload
                        usleep(20000);                          
                        }
                        while(!bAllDone && !bTimeOut);

                        // Output State
                        if (bTimeOut)
                        {
                                for (int i=0;i<m_iNumDrives;i++)
                                {
                                        vpSteerMotor[i]->setGearVelRadS(0);
                                        vpDriveMotor[i]->setGearVelRadS(0);
                                }
                                std::cout << "Error while Homing: Timeout while waiting for homing signal" << std::endl;
                        }

                        // update Can Buffer once more
                        // read current can buffer and update position and velocity measurements
                        evalCanBuffer();

                        // Now make steers move to position: zero
                        // this could be handled also by the elmos themselve
                        // however this way synchronization of steering and driving is better
                        double m_d0 = 2.5;
                        if (bTimeOut == false)
                        {
                                do
                                {       
                                        bAllDone = true;
                                        for (int i = 0; i<m_iNumDrives; i++)
                                        {
                                                // get current position of steer
                                                double dCurrentPosRad;
                                                vpSteerMotor[i]->getGearPosRad(&dCurrentPosRad);
                                                // P-Ctrl                                       
                                                double dDeltaPhi = 0.0 - dCurrentPosRad; 
                                                // check if steer is at pos zero
                                                if (fabs(dDeltaPhi) < 0.03)     //alter Wert=0.03
                                                {
                                                        dDeltaPhi = 0.0;
                                                }
                                                else
                                                {
                                                        bAllDone = false;       
                                                }
                                                double dVelCmd = m_d0 * dDeltaPhi;
                                                // set Outputs
                                                vpSteerMotor[i]->setGearVelRadS(dVelCmd);
                                                vpDriveMotor[i]->setGearVelRadS(dVelCmd*vdFactorVel[i]);
                                        }
                                        usleep(20000);
                                        evalCanBuffer();
                                } while(!bAllDone);


                                // Homing done. Wheels at position zero (+/- 0.5°)
                                std::cout << "Wheels homed" << std::endl;
                                for (int i=0;i<m_iNumDrives;i++)
                                {
                                        vpSteerMotor[i]->setGearVelRadS(0);
                                        vpDriveMotor[i]->setGearVelRadS(0);
                                }
                        }
                }
        }
        // ---------------------- end homing procedure

        // homing done -> wake up watchdogs
        for(int i=0; i<m_iNumMotors; i++)
        {
                m_vpMotor[i]->startWatchdog(true);
        }
/*      m_vpMotor[0]->startWatchdog(true);
        m_vpMotor[1]->startWatchdog(true);
        m_vpMotor[2]->startWatchdog(true);
        m_vpMotor[3]->startWatchdog(true);
        m_vpMotor[4]->startWatchdog(true);
        m_vpMotor[5]->startWatchdog(true);
        m_vpMotor[6]->startWatchdog(true);
        m_vpMotor[7]->startWatchdog(true);
*/
//      return  (
//              vbRetDriveMotor[0] && vbRetDriveMotor[1] && vbRetDriveMotor[2] && vbRetDriveMotor[3] &&
//              vbRetSteerMotor[0] && vbRetSteerMotor[1] && vbRetSteerMotor[2] && vbRetSteerMotor[3]);
        bHomingOk = true;
        for(int i=0; i<m_iNumDrives; i++)
        {
                if((vbRetDriveMotor[i] && vbRetSteerMotor[i]) == false)
                {
                        bHomingOk = false;
                }
        }
        return (bHomingOk);
}

//-----------------------------------------------
bool CanCtrlPltfCOb3::resetPltf()
{
        bool bRetMotor = true;
        bool bRet = true;
        
        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                bRetMotor = m_vpMotor[i]->start();
                if (bRetMotor == true)
                {
                        m_vpMotor[i]->setGearVelRadS(0);
                }
                else
                {
                        std::cout << "Resetting of Motor " << i << " failed" << std::endl;
                }

                bRet &= bRetMotor;
        }
        return(bRet);
}

//-----------------------------------------------
bool CanCtrlPltfCOb3::shutdownPltf()
{

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                m_vpMotor[i]->shutdown();
        }

        return true;
}

//-----------------------------------------------
bool CanCtrlPltfCOb3::isPltfError()
{

        bool bErrMotor = false;
        std::vector<bool> vbErrMotor;
        vbErrMotor.resize(m_vpMotor.size());

        // check all motors for errors
        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                vbErrMotor[i] = m_vpMotor[i]->isError();
                // if watchdog is not yet in error state but one motor is errorneous Log Out Error-Msg
                if( (m_bWatchdogErr == false) && (vbErrMotor[i] == true) )
                {
                        std::cout << "Motor " << i << " error" << std::endl;
                }
                // check whether no motor was errorneous
                bErrMotor |= vbErrMotor[i];
        }

        // if no motor is in error state force Watchdog to "No Error" state
        if(bErrMotor == false)
                m_bWatchdogErr = false;
        else
                m_bWatchdogErr = true;

        if (m_bWatchdogErr) return true;


        // Check communication
        double dWatchTime = 0;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                dWatchTime = m_vpMotor[i]->getTimeToLastMsg();

                if(dWatchTime <  m_Param.dCanTimeout)
                {
                        m_bWatchdogErr = false;
                }
                if( (dWatchTime > m_Param.dCanTimeout) && (m_bWatchdogErr == false) )
                {
                        std::cout << "timeout CAN motor " << i << std::endl;
                        m_bWatchdogErr = true;
                        return true;
                }
        }

        return false;
}

//-----------------------------------------------
bool CanCtrlPltfCOb3::startWatchdog(bool bStarted)
{

        bool bRet = true;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                bRet = m_vpMotor[i]->startWatchdog(bStarted);
        }

        return (bRet);
}

//-----------------------------------------------
void CanCtrlPltfCOb3::sendNetStartCanOpen()
{
        CanMsg msg;

        msg.m_iID  = 0;
        msg.m_iLen = 2;
        msg.set(1,0,0,0,0,0,0,0);
        m_pCanCtrl->transmitMsg(msg, false);

        usleep(100000);
}


//-----------------------------------------------
// Motor Controlers
//-----------------------------------------------


//-----------------------------------------------
int CanCtrlPltfCOb3::setVelGearRadS(int iCanIdent, double dVelGearRadS)
{               
        m_Mutex.lock();

        // If an error was detected and processed in isPltfErr().
        if (m_bWatchdogErr == true)
        {
                // Error -> Stop motor driving
                dVelGearRadS = 0;
                // The error is detected and quitted in the funtion isPltfErr().
        }

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->setGearVelRadS(dVelGearRadS);
                }
        }
        
        m_Mutex.unlock();
        
        return 0;
}

//-----------------------------------------------
int CanCtrlPltfCOb3::requestMotPosVel(int iCanIdent)
{
        m_Mutex.lock();

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->requestPosVel();
                }
        }
        
        m_Mutex.unlock();

        return 0;
}

//-----------------------------------------------
void CanCtrlPltfCOb3::requestDriveStatus()
{
        m_Mutex.lock();

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                m_vpMotor[i]->requestStatus();
        }

        m_Mutex.unlock();
}

//-----------------------------------------------
int CanCtrlPltfCOb3::getGearPosVelRadS(int iCanIdent, double* pdAngleGearRad, double* pdVelGearRadS)
{

        // init default outputs
        *pdAngleGearRad = 0;
        *pdVelGearRadS = 0;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->getGearPosVelRadS(pdAngleGearRad, pdVelGearRadS);
                }
        }
        
        return 0;
}

//-----------------------------------------------
int CanCtrlPltfCOb3::getGearDeltaPosVelRadS(int iCanIdent, double* pdAngleGearRad,
                                                                                   double* pdVelGearRadS)
{

        // init default outputs
        *pdAngleGearRad = 0;
        *pdVelGearRadS = 0;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->getGearDeltaPosVelRadS(pdAngleGearRad, pdVelGearRadS);
                }
        }

        return 0;
}

//-----------------------------------------------
void CanCtrlPltfCOb3::getStatus(int iCanIdent, int* piStatus, int* piTempCel)
{
        // init default outputs
        *piStatus = 0;
        *piTempCel = 0;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->getStatus(piStatus, piTempCel);
                }
        }

}
//-----------------------------------------------
void CanCtrlPltfCOb3::requestMotorTorque()
{
        m_Mutex.lock();

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                m_vpMotor[i]->requestMotorTorque();
        }

        m_Mutex.unlock();
}       

//-----------------------------------------------
void CanCtrlPltfCOb3::getMotorTorque(int iCanIdent, double* pdTorqueNm)
{
        // init default outputs
        *pdTorqueNm = 0;

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->getMotorTorque(pdTorqueNm);
                }
        }

}
//-----------------------------------------------
void CanCtrlPltfCOb3::setMotorTorque(int iCanIdent, double dTorqueNm)
{
        m_Mutex.lock();

        for(unsigned int i = 0; i < m_vpMotor.size(); i++)
        {
                // check if Identifier fits to availlable hardware
                if(iCanIdent == m_viMotorID[i])
                {
                        m_vpMotor[i]->setMotorTorque(dTorqueNm);
                }
        }

        m_Mutex.unlock();
}

//-----------------------------------------------
// Read out Elmo-Recorder via CAN (cpc-pk)
//-----------------------------------------------

//-----------------------------------------------
int CanCtrlPltfCOb3::ElmoRecordings(int iFlag, int iParam, std::string sString) {
        int tempRet = 0;
        int bRet = 0;
        
        switch(iFlag) {
                case 0: //Flag = 0 means reset recorder and configure it
                        for(unsigned int i = 0; i < m_vpMotor.size(); i++) {
                                m_vpMotor[i]->setRecorder(0, iParam); //Configure Elmo Recorder with RecordingGap and start immediately
                        }
                        return 0;

                case 1: //Flag = 1 means start readout process, mustn't be called too early (while Rec is in process..)
                        for(unsigned int i = 0; i < m_vpMotor.size(); i++) {
                                if((tempRet = m_vpMotor[i]->setRecorder(1, iParam, sString)) > bRet) { 
                                        bRet = tempRet; //Query Readout of Index to Log Directory
                                }
                        }
                        return bRet;
                
                case 99:
                        for(unsigned int i = 0; i < m_vpMotor.size(); i++) {
                                m_vpMotor[i]->setRecorder(99, 0); //Stop any ongoing SDO transfer and clear corresponding data.
                        }
                        return 0;
                        
                case 100:
                        for(unsigned int i = 0; i < m_vpMotor.size(); i++) {
                                bRet += m_vpMotor[i]->setRecorder(2, 0); //Request state of transmission
                        }
                        return bRet;
                
                default:
                        return -1;
        }
}