dji_motor.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_DJI_MOTOR_HPP_
#define TAPROOT_DJI_MOTOR_HPP_
 
#include <string>
 
#include "tap/architecture/timeout.hpp"
#include "tap/communication/can/can_rx_listener.hpp"
#include "tap/communication/sensors/encoder/multi_encoder.hpp"
 
#include "modm/math/geometry/angle.hpp"
 
#include "dji_motor_encoder.hpp"
#include "dji_motor_ids.hpp"
#include "motor_interface.hpp"
 
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
#include <gmock/gmock.h>
 
#include "tap/mock/dji_motor_encoder_mock.hpp"
#endif
 
namespace tap::motor
{
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
using Encoder = tap::mock::DjiMotorEncoderMock;
#else
using Encoder = DjiMotorEncoder;
#endif
 
class DjiMotor : public can::CanRxListener, public MotorInterface
{
public:
    // Maximum values for following motors
    // Controller for the M2006, in mA output
    static constexpr uint16_t MAX_OUTPUT_C610 = 10000;
    // Controller for the M3508, in mA output (Mapped to a 20A range though, not 1:1)
    static constexpr uint16_t MAX_OUTPUT_C620 = 16384;
    // Controller for the M3510, in mA output (Not known if mapped to 20A range)
    static constexpr uint16_t MAX_OUTPUT_820R = 32767;
 
    // Output is in mV
    static constexpr uint16_t MAX_OUTPUT_GM6020 = 25000;
    // Output is in mV
    static constexpr uint16_t MAX_OUTPUT_GM3510 = 29000;
 
    DjiMotor(
        Drivers* drivers,
        MotorId desMotorIdentifier,
        tap::can::CanBus motorCanBus,
        bool isInverted,
        const char* name,
        bool currentControl = false,
        float gearRatio = 1,
        uint32_t encoderHomePosition = 0,
        tap::encoder::EncoderInterface* externalEncoder = nullptr);
 
    mockable ~DjiMotor();
 
    void initialize() override;
 
    tap::encoder::EncoderInterface* getEncoder() const override
    {
        return const_cast<tap::encoder::MultiEncoder<2>*>(&this->encoder);
    }
 
    mockable const Encoder& getInternalEncoder() const { return this->internalEncoder; }
 
    DISALLOW_COPY_AND_ASSIGN(DjiMotor)
 
    
    void processMessage(const modm::can::Message& message) override;
 
    void setDesiredOutput(int32_t desiredOutput) override;
 
    bool isMotorOnline() const override;
 
    mockable void serializeCanSendData(modm::can::Message* txMessage) const;
 
    int16_t getOutputDesired() const override;
 
    mockable uint32_t getMotorIdentifier() const;
 
    int8_t getTemperature() const override;
 
    int16_t getTorque() const override;
 
    mockable bool isMotorInverted() const;
 
    mockable tap::can::CanBus getCanBus() const;
 
    mockable const char* getName() const;
 
    mockable bool isInCurrentControl() const;
 
private:
    // wait time before the motor is considered disconnected, in milliseconds
    static const uint32_t MOTOR_DISCONNECT_TIME = 100;
 
    const char* motorName;
 
    Drivers* drivers;
 
    uint32_t motorIdentifier;
 
    tap::can::CanBus motorCanBus;
 
    int16_t desiredOutput;
 
    int8_t temperature;
 
    int16_t torque;
 
    bool motorInverted;
 
    bool currentControl;
 
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
    testing::NiceMock<Encoder> internalEncoder;
#else
    Encoder internalEncoder;
#endif
 
    tap::encoder::MultiEncoder<2> encoder;
 
    tap::arch::MilliTimeout motorDisconnectTimeout;
};
 
}  // namespace tap::motor
 
#endif  // TAPROOT_DJI_MOTOR_HPP_