drive_sercos.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
 
#ifndef MOTORCORTEX_LIB_DRIVE_SERCOS_H
#define MOTORCORTEX_LIB_DRIVE_SERCOS_H
 
#include "drive_base.h"
#include "drive_sercos_fsm_base.h"
#include "drive_sercos_fsm_data.h"
#include "drive_sercos_fsm_transition.h"
 
namespace mcx {
 
namespace drive {
 
class DriveSercos : public DriveBase {
  using SercosStateMachine = mcx::state_machine::StateMachine<SercosFsmBase>;
public:
 
  DriveSercos();
 
  explicit DriveSercos(const std::string& name);
 
  void setName(const std::string& name) override {
    sm_.setName(name.c_str());
  }
 
  bool update(double dt_sec, const DriveIn& drive_in, DriveOut* drive_out) override;
 
private:
  SercosStateMachine sm_;
  SercosFsmData sm_data_;
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif // MOTORCORTEX_LIB_DRIVE_SERCOS_H