52 lines
2.0 KiB
C++
Executable File
52 lines
2.0 KiB
C++
Executable File
#pragma once
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// Abstract class
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class RangedMotor
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{
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public:
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RangedMotor(
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const float gearboxRatio,
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const float scaleCalibration,
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const float zeroOffset,
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const float minSafeAngle,
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const float maxSafeAngle
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) noexcept;
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virtual bool moveTo(const float target) noexcept;
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virtual float getPosition() const noexcept;
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float getGearboxRatio() const noexcept;
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float getScaleCalibration() const noexcept;
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float getZeroOffset() const noexcept;
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float getSafeMinAngle() const noexcept;
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float getSafeMaxAngle() const noexcept;
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float getSafeHardwareMinAngle() const noexcept;
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float getSafeHardwareMaxAngle() const noexcept;
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void setGearboxRatio(float gearboxRatio) noexcept;
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void setScaleCalibration(float scaleCalibration) noexcept;
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void setZeroOffset(float zeroOffset) noexcept;
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void setSafeMinAngle(float safeMinAngle) noexcept;
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void setSafeMaxAngle(float safeMaxAngle) noexcept;
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void setSafeHardwareMinAngle(float safeHardwareMinAngle) noexcept;
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void setSafeHardwareMaxAngle(float safeHardwareMaxAngle) noexcept;
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// Will translate virtual-space-angles to hardware-space-angles
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float virtualAngleToHardwareAngle(float virtualAngle) const noexcept;
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// Will translate hardware-space-angles to virtual-space-angles
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float hardwareAngleToVirtualAngle(float hardwareAngle) const noexcept;
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// Calculates a command-space scale compensation factor.
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// The returned value is multiplied with virtual angle so that
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// the motors actual movement matches the intended movement.
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static float calculateScaleCalibration(const float virtualRange, const float hardwareRange);
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protected:
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float gearboxRatio; // Gearbox ratio
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float scaleCalibration; // Scale calibration
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float zeroOffset; // Zero offset calibration
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float safeHardwareMinAngle; // Absolute hardware space minimum
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float safeHardwareMaxAngle; // Absolute hardware space maximum
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};
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