MotorDriver.h

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/*
 * MotorDriver.h
 *
 *  Created on: Feb 1, 2020
 *      Author: Yannick
 */
 
#ifndef MOTORDRIVER_H_
#define MOTORDRIVER_H_
 
#include "cppmain.h"
#include "ChoosableClass.h"
#include "PersistentStorage.h"
#include "Encoder.h"
#include "memory"
 
class Encoder;
class MotorDriver : public ChoosableClass{
public:
    MotorDriver(){};
    virtual ~MotorDriver(){};
 
    static ClassIdentifier info;
    const ClassIdentifier getInfo();
    const ClassType getClassType() override {return ClassType::Motordriver;};
    static const std::vector<class_entry<MotorDriver>> all_drivers;
 
    virtual void turn(int16_t power);
    virtual void stopMotor();
    virtual void startMotor();
    virtual void emergencyStop(bool reset = false);
 
    virtual bool motorReady(); // Returns true if the driver is active and ready to receive commands
 
    virtual Encoder* getEncoder(); // Encoder is managed by the motor driver. Must always return an encoder
 
    virtual void setEncoder(std::shared_ptr<Encoder>& encoder){drvEncoder = encoder;}
    virtual bool hasIntegratedEncoder(); // Returns true if the driver has an integrated encoder. If false the axis will pass one to the driver
 
 
protected:
    std::shared_ptr<Encoder> drvEncoder = std::make_shared<Encoder>(); // Dummy encoder
};
 
 
 
#endif /* MOTORDRIVER_H_ */