JointControlCommandFinger.h

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/***************************************************************************/
#ifndef JOINTCONTROLCOMMANDFSMFINGER_H_
#define JOINTCONTROLCOMMANDFSMFINGER_H_

#include "robodyn_mechanisms/JointControlCommandInterface.h"

class JointControlCommandFinger : public JointControlCommandInterface
{
public:
    JointControlCommandFinger(const std::string&, IoFunctions);
    virtual ~JointControlCommandFinger();

    void getStates(r2_msgs::JointControlData& commandStates);

    // controlMode functions
    void bootLoader(void);
    void off(void);
    void park(void);
    void neutral(void);
    void drive(void);

    // commandMode functions
    void motCom(void);
    void stallMode(void);
    void multiLoopStep(void);
    void multiLoopSmooth(void);
    void actuator(void);

    // calibrationMode functions
    void disableCalibrationMode(void);
    void enableCalibrationMode(void);
    void resetCalibrationMode(void);

    // clearFaultMode functions
    void enableClearFaultMode(void);
    void disableClearFaultMode(void);

protected:
    void setParameters();
    const std::string logCategory;

private:
    // Live coeffs names
    std::string ControlModeLiveCoeffName;
    std::string CommandModeLiveCoeffName;
    std::string CalibrationModeLiveCoeffName;
    std::string ClearFaultStateLiveCoeffName;
};

#endif