mcdc3006s.h

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#ifndef __MCD3006S_H__
#define __MCD3006S_H__

#include <ros/ros.h>
#include <sr_communications/serial_port/rs232.h>
#include "motor_driver_interface.h"

class Mcdc3006s : public MotorDriverInterface {
    public:
        Mcdc3006s();

        ~Mcdc3006s();

        int init(int baudrate, char *dev, char *sem);

        int enable_driver();

        int disable_driver();

        int get_config(driverConf_t *dc);

        long int get_max_pos();

        long int get_min_pos();

        long int get_max_vel();

        long int get_max_acc();

        long int get_max_dec();

        int get_cur_lim();

        int get_peak_cur_lim();

        int get_status(driverStatus_t *drvStatus);

        int get_sensor(driverSensor_t *sensor);

        int get_instant_pos(long int *positon);

        int get_instant_vel(long int *velocity);

        int get_instant_current(int *current);

        int set_config(driverConf_t dc);

        int set_max_pos(long int maxPos);

        int set_min_pos(long int minPos);

        int set_max_vel(long int maxVel);

        int set_max_acc(long int maxAcc);

        int set_max_dec(long int maxDec);

        int set_cur_lim(int cl);

        int set_peak_cur_lim(int pcl);

        int set_baudrate(int baud);

        int move_abs_pos(long int pos);

        int move_rel_pos(long int pos);

        int move_vel(long int vel);

        int save_to_flash();

        int activate_limits(int action);

        int set_home_position(long int home);

        int calibrate(int limit);

    private:
        Rs232 _comm;
};

#endif