JointControlCommandSeriesElastic.h

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/***************************************************************************/
#ifndef JOINTCONTROLCOMMANDFSMSERIESELASTIC_H_
#define JOINTCONTROLCOMMANDFSMSERIESELASTIC_H_

#include "robot_instance/NodeRegisterManager.h"
#include "robodyn_mechanisms/JointControlCommandInterface.h"

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

    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();
    void updateParameters();
    NodeRegisterManagerPtr nodeRegisterManager;
    const std::string      logCategory;

private:
    // Control bit names
    std::string BootEnableControlName;
    std::string BridgeEnableControlName;
    std::string BrakeReleaseControlName;
    std::string MotorEnableControlName;
    std::string MotComSourceControlName;
    std::string ControlModeControlName;
    std::string PosComVelocityControlName;
    std::string CalibrationModeControlName;
    std::string ClearFaultControlName;
    std::string InitAPS2toAPS1ControlName;
    std::string HeadLightControlName;
    std::string LaserEnableControlName;
    std::string AwareControlName;

    std::string HeadLightName;
    std::string LaserEnableName;

    int headLight;
    int laserEnable;
};

#endif