mcdc3006s.h

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#ifndef __MCD3006S_H__
#define __MCD3006S_H__

#include <ros/ros.h>

#include "motor_driver_interface.h"
#include "serial_port/rs232.h"

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

        ~Mcdc3006s();

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

        int enableDriver();

        int disableDriver();

        int getDriverConf(driverConf_t *dc);

        int setDriverConf(driverConf_t dc);

        int saveToFlash();

        /* set configuration to the driver */

        int activateLimits(int action);

        /* get configuration from the driver */

        long int getDriverMaxPos();

        long int getDriverMinPos();

        long int getDriverMaxVel();

        long int getDriverMaxAcc();

        long int getDriverMaxDec();

        int getDriverCurLim();

        int getDriverPCurLim();

        /* get status from the driver */

        int getDriverStatus(driverStatus_t * drvStatus);

        /* get motorSensor from the driver */

        int getDriverSensor(driverSensor_t *sensor);

        int getDriverInstantPos(long int *positon);

        int getDriverInstantVel(long int *velocity);

        int getDriverInstantCurrent(int *current);

        int setDriverMaxPos(long int maxPos);

        int setDriverMinPos(long int minPos);

        int setDriverMaxVel(long int maxVel);

        int setDriverMaxAcc(long int maxAcc);

        int setDriverMaxDec(long int maxDec);

        int setDriverCurLim(int cl);

        int setDriverPCurLim(int pcl);

        int setDriverBaud(int baud);

        /* direct movement */

        int moveDriverAbsPos(long int pos);

        int moveDriverRelPos(long int pos);

        int moveDriverVel(long int vel);

        /* Calibrate Driver */

        int setDriverHomePosition(long int home);

        int calibrateDriver(long int limit, int current_limit, int calibration_speed, int time_out);

    private:
        Rs232 _comm;
};

#endif