drive_sercossim.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2018 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_LIB_DRIVE_SERCOSSIM_H
#define MOTORCORTEX_LIB_DRIVE_SERCOSSIM_H
 
#include "drive_base.h"
#include "drive_sercos.h"
 
namespace mcx {
 
namespace parameter_server {
class Parameter;
}
 
namespace drive {
 
class DriveSercosSim : public DriveBase {
public:
 
  DriveSercosSim();
 
  explicit DriveSercosSim(const std::string& name);
 
  void setName(const std::string& name) override {
    sercos_.setName(name);
  }
 
  bool update(double dt_sec, const DriveIn& drive_in, DriveOut* drive_out) override;
 
private:
  DriveSercos sercos_;
  unsigned int sercos_status_{};
};
 
}  // namespace drive
 
}  // namespace mcx
 
#endif //MOTORCORTEX_LIB_DRIVE_SERCOSSIM_H