syntax = "proto3";

package cmvr.api;

import "cmvr/api/motor_command.proto";

service MotorService {
  rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
  rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
  rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
  rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);

  rpc streamCyclicPosition(stream CyclicPositionRequest)
      returns (stream CyclicControlResponse);
  rpc streamCyclicVelocity(stream CyclicVelocityRequest)
      returns (stream CyclicControlResponse);

  rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
  rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
  rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
}