qbsofthand2_research_api.h

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#include <qbrobotics_research_api/qbrobotics_research_api.h>
 
namespace qbrobotics_research_api {
  class qbSoftHand2MotorsResearch : public Device {
  public:
    class Params : public Device::Params {
    public:
      Params() = default;
      ~Params() override = default;
 
      void initParams(const std::vector<int8_t> &param_buffer) override;
 
      uint8_t hand_side {0};
    };
 
    explicit qbSoftHand2MotorsResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id);
    explicit qbSoftHand2MotorsResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params);
    ~qbSoftHand2MotorsResearch() override = default;
 
    int setMotorStates(bool motor_state) override;
 
    int setParameter(uint16_t param_type, const std::vector<int8_t> &param_data) override;
    int setParamId(uint8_t id) override;
    int setParamZeros() override;
 
 
    int getParamHandSide();
 
    int getParamHandSide(uint8_t &hand_side);
 
    int getParamEncoderOffsets() override;
 
    int getParamEncoderOffsets(std::vector<int16_t> &encoder_offsets) override;
 
    int getSynergies(std::vector<int16_t> &synergies);
 
    int setParamEncoderOffsets(const std::vector<int16_t> &encoder_offsets) override;
 
    int setAdditiveSynergiesReferences(int16_t synergy_1, int16_t synergy_2);
 
    int setMultiplicativeSynergiesReferences(float synergy_1, float synergy_2);
 
    int setParamHandSide(uint8_t hand_side);
 
    int setHomePosition();
  };
}