74 lines
3.1 KiB
C++
74 lines
3.1 KiB
C++
//
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// Created by lgv on 2025/8/1.
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//
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#pragma once
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#include <cstdint>
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#include "cmvr/msgs/canopen.pb.h"
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#include "cmvr/msgs/motor.pb.h"
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namespace cmvr {
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namespace device {
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class MotorProtocolInterface {
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public:
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enum class CommProto : uint8_t {
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CANOPEN = 1,
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ETHERCAT = 2,
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CUSTOM = 3
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};
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virtual ~MotorProtocolInterface() = default;
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/**
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* @brief 用于初始化与通讯协议相关的设置
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* @param node_id 电机Id
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* @return
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*/
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virtual bool initNode(uint8_t node_id) = 0;
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virtual bool setMode(uint8_t node_id,msgs::RunMode mode ) = 0;
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virtual msgs::RunMode getMode(uint8_t node_id) = 0;
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virtual void setLimitQdd(uint8_t node_id, double u_qdd,double l_qdd) = 0;
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virtual void setLimitQd(uint8_t node_id,double qd) = 0;
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virtual void setLimitQ(uint8_t node_id, double ub, double lb) = 0;
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virtual bool calibrateZeroQ(uint8_t node_id) = 0;
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virtual bool reachedTargetQ(uint8_t node_id) = 0;
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// target_q: rad, max_qd: rad/s, max_qdd: rad/s^2.
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// Profile Position 写入目标位置和轮廓速度/加速度，并触发一次新目标。
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virtual bool commandProfilePosition(uint8_t node_id,
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double target_q,
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double max_qd,
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double max_qdd) = 0;
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// target_qd: rad/s, max_qdd: rad/s^2.
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// Profile Velocity 写入目标速度和轮廓加速度。
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virtual bool commandProfileVelocity(uint8_t node_id,
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double target_qd,
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double max_qdd) = 0;
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// target_q: rad, target_qd: rad/s.
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// Cyclic Position 周期写入目标位置和目标速度。
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virtual bool commandCyclicPosition(uint8_t node_id,
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double target_q,
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double target_qd) = 0;
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// target_qd: rad/s.
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// Cyclic Velocity 周期写入目标速度。
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virtual bool commandCyclicVelocity(uint8_t node_id,
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double target_qd) = 0;
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// target_tau: N*m.
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virtual bool commandCyclicTorque(uint8_t node_id, double target_tau) = 0;
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virtual void setMotorConversion(uint8_t node_id,
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double encoder_counts_per_rev,
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double gear_ratio) = 0;
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virtual bool torqueOn(uint8_t node_id) = 0;
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virtual bool torqueOff(uint8_t node_id) = 0;
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virtual bool brakeRelease(uint8_t node_id) = 0;
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virtual bool quickStop(uint8_t node_id) = 0;
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virtual double getQ(uint8_t node_id) = 0;
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virtual double getQd(uint8_t node_id) = 0;
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CommProto comm_proto{CommProto::CANOPEN};
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protected:
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};
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}
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}
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