dji_motor_encoder.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2024 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_ENCODER_HPP_
#define TAPROOT_DJI_MOTOR_ENCODER_HPP_
 
#include "tap/architecture/timeout.hpp"
#include "tap/communication/sensors/encoder/wrapped_encoder.hpp"
#include "tap/util_macros.hpp"
 
#include "modm/architecture/interface/can_message.hpp"
#include "modm/math/geometry/angle.hpp"
 
namespace tap::motor
{
class DjiMotorEncoder : public tap::encoder::WrappedEncoder
{
public:
    // 0 - 8191 for dji motors
    static constexpr uint16_t ENC_RESOLUTION = 8192;
 
    // Internal gear ratio of the following motors
    static constexpr float GEAR_RATIO_M3508 = 3591.0f / 187.0f;
    static constexpr float GEAR_RATIO_GM3510_L1 = 3.7f / 1.0f;
    static constexpr float GEAR_RATIO_GM3510_L2 = 5.2f / 1.0f;
    static constexpr float GEAR_RATIO_GM3510_L3 = 19.0f / 1.0f;
    static constexpr float GEAR_RATIO_GM3510_L4 = 27.0f / 1.0f;
    static constexpr float GEAR_RATIO_M2006 = 36.0f / 1.0f;
    static constexpr float GEAR_RATIO_GM6020 = 1.0f / 1.0f;
 
    DjiMotorEncoder(bool isInverted, float gearRatio = 1, uint32_t encoderHomePosition = 0);
 
    void initialize() override{};
 
    bool isOnline() const override;
 
    float getVelocity() const override;
 
    mockable int16_t getShaftRPM() const;
 
    DISALLOW_COPY_AND_ASSIGN(DjiMotorEncoder)
 
    
    mockable void processMessage(const modm::can::Message& message);
 
private:
    // wait time before the motor is considered disconnected, in milliseconds
    static const uint32_t MOTOR_DISCONNECT_TIME = 100;
 
    tap::arch::MilliTimeout encoderDisconnectTimeout;
 
    int16_t shaftRPM;
};
 
}  // namespace tap::motor
 
#endif  // TAPROOT_DJI_MOTOR_ENCODER_HPP_