qbsofthand_research_api.h

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#ifndef QBROBOTICS_DRIVER_QBSOFTHAND_RESEARCH_API_H
#define QBROBOTICS_DRIVER_QBSOFTHAND_RESEARCH_API_H
 
#include <qbrobotics_research_api/qbrobotics_research_api.h>
 
namespace qbrobotics_research_api {
 
class qbSoftHandResearch : 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 use_emg_calibration {false};
    std::vector<uint16_t> emg_thresholds;
    std::vector<uint32_t> emg_max_value;
    uint8_t emg_speed {0};
    uint8_t use_double_encoder {false};
    int8_t handle_ratio {0};
    uint8_t use_pwm_rescaling {false};
    std::vector<float> current_lookup_table;
  };
 
  explicit qbSoftHandResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id);
  explicit qbSoftHandResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params);
  explicit qbSoftHandResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr<Device::Params> params);
  ~qbSoftHandResearch() override = default;
 
  int openCloseCycles(uint16_t speed, uint16_t cycles);
  int getEMGs(std::vector<int16_t> &emg_values);
  int getJoystick(std::vector<int16_t> &joystick_values);
 
  int getParamUseEMGCalibration();
  int getParamUseEMGCalibration(uint8_t &use_emg_calibration);
  int getParamEMGThresholds();
  int getParamEMGThresholds(std::vector<uint16_t> &emg_thresholds);
  int getParamEMGMaxValues();
  int getParamEMGMaxValues(std::vector<uint32_t> &emg_max_value);
  int getParamEMGSpeed();
  int getParamEMGSpeed(uint8_t &emg_speed);
  int getParamUseDoubleEncoder();
  int getParamUseDoubleEncoder(uint8_t &use_double_encoder);
  int getParamHandleRatio();
  int getParamHandleRatio(int8_t &handle_ratio);
  int getParamUsePWMRescaling();
  int getParamUsePWMRescaling(uint8_t &use_pwm_rescaling);
  int getParamCurrentLookupTable();
  int getParamCurrentLookupTable(std::vector<float> &current_lookup_table);
  int getParamRateLimiter();
  int getParamRateLimiter(uint8_t &rate_limiter);
 
  int setParamUseEMGCalibration(uint8_t use_emg_calibration);
  int setParamEMGThresholds(const std::vector<uint16_t> &emg_thresholds);
  int setParamEMGMaxValues(const std::vector<uint32_t> &emg_max_value);
  int setParamEMGSpeed(uint8_t emg_speed);
  int setParamUseDoubleEncoder(uint8_t use_double_encoder);
  int setParamHandleRatio(int8_t handle_ratio);
  int setParamUsePWMRescaling(uint8_t use_pwm_rescaling);
  int setParamCurrentLookupTable(const std::vector<float> &current_lookup_table);
  int setParamRateLimiter(uint8_t rate_limiter);
};
 
class qbSoftHandLegacyResearch : public qbSoftHandResearch {
 public:
  class Params : public qbSoftHandResearch::Params {
   public:
    Params() = default;
    ~Params() override = default;
 
//    void initParams(const std::vector<int8_t> &param_buffer) override;  // not necessary at the moment
  };
 
  explicit qbSoftHandLegacyResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id);
  explicit qbSoftHandLegacyResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params);
  explicit qbSoftHandLegacyResearch(std::shared_ptr<Communication> communication, std::string name, std::string serial_port, uint8_t id, bool init_params, std::unique_ptr<Device::Params> params);
  ~qbSoftHandLegacyResearch() override = default;
 
  // same as qbmoveOldResearch
  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;
};
 
}  // namespace qbrobotics_research_api
 
#endif  // QBROBOTICS_DRIVER_QBSOFTHAND_RESEARCH_API_H