dji_gm6020_old.hpp

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#pragma once
#include "wrap/trap/motor/dji_motor_aliases.hpp"
#include "wrap/trap/algorithms/wrapped_radians.hpp"
#include "wrap/trap/drivers.hpp"
#include "wrap/rail/motor/iposition_motor.hpp"
#include "wrap/units/units_alias.hpp"
 
#include "tap/communication/can/can_bus.hpp"
#include "tap/motor/dji_motor.hpp"
#include "tap/util_macros.hpp"
 
namespace trap
{
    namespace motor
    {
        class DjiGM6020Old : public fang::motor::IPositionMotor
        {
        public:
            struct Config
            {
                tap::motor::MotorId motorId;
                tap::can::CanBus canBus;
                const char* name;
                bool inverted;
                double gearRatio;
                DjiSpeedPid::Config speedPidConfig;
                bool currentControl = true;
            };
            DjiGM6020Old(Drivers& drivers, const Config& config);
            DjiGM6020Old(Drivers& drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus,
                     const char* name, bool inverted, double gearRatio, const DjiSpeedPid::Config& speedConfig, bool currentControl);
 
            mockable ~DjiGM6020Old() = default;
 
            mockable void update() override;
 
            mockable void setTargetPosition(const Radians& targetPosition) override;
 
            mockable Radians getPosition() const;
 
            mockable void initialize() override;
 
            mockable void setDesiredOutput(DjiMotorOutput desiredOutput);
 
            mockable bool isMotorOnline() const;
 
            mockable Celsius getTemperature() const;
 
            mockable tap::can::CanBus getCanBus() const;
 
            mockable const char* getName() const;
 
        static const DjiMotorOutput k_maxOutput{tap::motor::DjiMotor::MAX_OUTPUT_GM6020};
        private:
            tap::motor::DjiMotor m_djiMotor;
            DjiPositionPid m_speedPid;
            double m_gearRatio;
 
            trap::algorithms::WrappedRadians m_targetPosition{Radians{0.0}};
            static constexpr int mk_GM6020CANAddressOffset{4};
        };
    }
}