MotorDriver.cpp

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/*
 * MotorDriver.cpp
 *
 *  Created on: Feb 1, 2020
 *      Author: Yannick
 */
 
#include <ODriveCAN.h>
#include "MotorDriver.h"
#include "ClassChooser.h"
 
#include "TMC4671.h"
#include "MotorPWM.h"
#include "VescCAN.h"
#include "MotorSimplemotion.h"
#include "RmdMotorCAN.h"
 
ClassIdentifier MotorDriver::info ={.name = "None" , .id=CLSID_MOT_NONE, .visibility = ClassVisibility::visible};
 
const std::vector<class_entry<MotorDriver>> MotorDriver::all_drivers =
{
    add_class<MotorDriver, MotorDriver>(0),
 
#ifdef TMC4671DRIVER
 
//      add_class<TMC4671, MotorDriver>(),
    add_class<TMC_1, MotorDriver>(1),
    add_class<TMC_2, MotorDriver>(2),
//      add_class<TMC_3, MotorDriver>(),
#endif
#ifdef PWMDRIVER
    add_class<MotorPWM, MotorDriver>(4),
#endif
#ifdef ODRIVE
    add_class<ODriveCAN1,MotorDriver>(5),
    add_class<ODriveCAN2,MotorDriver>(6),
#endif
#ifdef VESC
    add_class<VESC_1,MotorDriver>(7),
    add_class<VESC_2,MotorDriver>(8),
#endif
#ifdef SIMPLEMOTION
    add_class<MotorSimplemotion1,MotorDriver>(9),
    add_class<MotorSimplemotion2,MotorDriver>(10),
#endif
#ifdef RMDCAN
    add_class<RmdMotorCAN1,MotorDriver>(11),
    add_class<RmdMotorCAN2,MotorDriver>(12),
#endif
};
 
void MotorDriver::emergencyStop(bool reset){
    if(reset){
        startMotor();
    }else{
        stopMotor();
    }
}
 
bool MotorDriver::motorReady(){
    return true;
}
 
bool MotorDriver::hasIntegratedEncoder(){
    return false;
}
 
 
const ClassIdentifier MotorDriver::getInfo(){
    return info;
}
 
 
void MotorDriver::turn(int16_t val){
 
}
 
void MotorDriver::startMotor(){
 
}
void MotorDriver::stopMotor(){
    turn(0);
}
 
Encoder* MotorDriver::getEncoder(){
    return this->drvEncoder.get();
}