dji_m2006_old.hpp

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#pragma once
#include "wrap/rail/motor/ispeed_motor.hpp"
#include "wrap/trap/drivers.hpp"
#include "wrap/trap/motor/dji_motor_aliases.hpp"
#include "wrap/units/units_alias.hpp"
 
#include "tap/motor/dji_motor.hpp"
#include "tap/motor/dji_motor_encoder.hpp"
#include "tap/communication/can/can_bus.hpp"
#include "tap/util_macros.hpp"
#include "driver/drivers.hpp"
 
namespace trap
{
    namespace motor
    {
        class DjiM2006Old : virtual public fang::motor::ISpeedMotor
        {
        public:
            struct Config
            {
                tap::motor::MotorId motorId;
                tap::can::CanBus canBus;
                const char* name;
                bool inverted;
                double gearRatio;
                DjiSpeedPid::Config speedPidConfig;
            };
            DjiM2006Old(Drivers& drivers, const Config& config);
            DjiM2006Old(Drivers& drivers, tap::motor::MotorId motorId, tap::can::CanBus canBus,
                     const char* name, bool inverted, double gearRatio, const DjiSpeedPid::Config& speedConfig);
 
 
            mockable ~DjiM2006Old() = default;
 
            mockable void initialize() override;
 
            mockable void update() override;
 
            mockable void setTargetSpeed(const RPM& targetSpeed) override;
 
            mockable RPM getSpeed() const;
 
            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 constexpr DjiMotorOutput k_maxOutput{tap::motor::DjiMotor::MAX_OUTPUT_C610};
 
        static constexpr double k_factoryGearboxRatio{tap::motor::DjiMotorEncoder::GEAR_RATIO_M2006};
        private:
            tap::motor::DjiMotor m_djiMotor;
            DjiSpeedPid m_speedPid;
            const double m_gearRatio;
 
            RPM m_targetSpeed{0.0};
 
            //Current control in DjiMotor is for the GM6020s only
            //Setting it to true will mean the motor does not respond
            static constexpr bool mk_requiredCurrentMode{false};
        };
    }
}