controlAllegroHand.h

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/*
 * controlAllegroHand.h
 *
 *  Created on: Nov 15, 2012
 *      Author: Seungsu KIM & Ashwini Schukla
 */

#ifndef CONTROLALLEGROHAND_H_
#define CONTROLALLEGROHAND_H_

#include <list>
#include "BHand/BHand.h"
#include "allgroCANProtocol.h"
#include <libpcan.h>
#include <fcntl.h>

#define ALLEGRO_CONTROL_TIME_INTERVAL 0.003

#define PWM_LIMIT_ROLL 250.0*1.5
#define PWM_LIMIT_NEAR 450.0*1.5
#define PWM_LIMIT_MIDDLE 300.0*1.5
#define PWM_LIMIT_FAR 190.0*1.5

#define PWM_LIMIT_THUMB_ROLL 350.0*1.5
#define PWM_LIMIT_THUMB_NEAR 270.0*1.5
#define PWM_LIMIT_THUMB_MIDDLE 180.0*1.5
#define PWM_LIMIT_THUMB_FAR 180.0*1.5

class controlAllegroHand
{
public:
        controlAllegroHand();
        ~controlAllegroHand();

        void init(int mode = 0);
        int update(void);
        int  command(const short& cmd, const int& arg = 0);

        void setTorque(double *torque);
        void getJointInfo(double *position, double *torque);

private:
        HANDLE CanHandle;
        //TPCANMsg read_msg;
        TPCANRdMsg read_msg;

        double curr_position[DOF_JOINTS];
        double curr_torque[DOF_JOINTS];
        double desired_position[DOF_JOINTS];
        double desired_torque[DOF_JOINTS];

        double mPWM_MAX[DOF_JOINTS];
        int    mEncoderOffset[DOF_JOINTS];
        int    mEncoderDirection[DOF_JOINTS];
        int    mMotorDirection[DOF_JOINTS];

        volatile bool mEmergencyStop;

        void _readDevices();
        DWORD _readDevicesCAN(unsigned char& id, double *position );
        void _writeDevices();
        void _parseCANMsg();

        void _writeDeviceMsg(unsigned long command, unsigned long from, unsigned long to, BYTE len, unsigned char *data);
        void _writeDeviceMsg(unsigned long command, unsigned long from, unsigned long to);
        char _parseCANMsg(TPCANMsg &read_msg,  double *values);

};


#endif /* CONTROLALLEGROHAND_H_ */