motor_driver_interface.h

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#ifndef __MOTOR_DRIVER_INTERFACE_H__
#define __MOTOR_DRIVER_INTERFACE_H__

#include "mcdc3006s_data.h"

class MotorDriverInterface {
    public:
        MotorDriverInterface()
        {
        }

        virtual ~MotorDriverInterface()
        {
        }

        virtual int init(int baudrate, char *dev, char *sem) = 0;

        virtual int enable_driver() = 0;

        virtual int disable_driver() = 0;

        virtual int get_config(driverConf_t *dc) = 0;

        virtual long int get_max_pos() = 0;

        virtual long int get_min_pos() = 0;

        virtual long int get_max_vel() = 0;

        virtual long int get_max_acc() = 0;

        virtual long int get_max_dec() = 0;

        virtual int get_cur_lim() = 0;

        virtual int get_peak_cur_lim() = 0;

        virtual int get_status(driverStatus_t * drvStatus) = 0;

        virtual int get_sensor(driverSensor_t *sensor) = 0;

        virtual int get_instant_pos(long int *positon) = 0;

        virtual int get_instant_vel(long int *velocity) = 0;

        virtual int get_instant_current(int *current) = 0;

        virtual int set_config(driverConf_t dc) = 0;

        virtual int set_max_pos(long int maxPos) = 0;

        virtual int set_min_pos(long int minPos) = 0;

        virtual int set_max_vel(long int maxVel) = 0;

        virtual int set_max_acc(long int maxAcc) = 0;

        virtual int set_max_dec(long int maxDec) = 0;

        virtual int set_cur_lim(int cl) = 0;

        virtual int set_peak_cur_lim(int pcl) = 0;

        virtual int set_baudrate(int baud) = 0;

        virtual int move_abs_pos(long int pos) = 0;

        virtual int move_rel_pos(long int pos) = 0;

        virtual int move_vel(long int vel) = 0;

        virtual int save_to_flash() = 0;

        virtual int activate_limits(int action) = 0;

        virtual int set_home_position(long int home) = 0;

        virtual int calibrate(int limit) = 0;
};

#endif