implement basic motor class

MotionCore/MotionCore.vcxproj

@@ -88,6 +88,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions);WINDOWS</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp20</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -102,6 +103,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions);WINDOWS</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp20</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -116,6 +118,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions);WINDOWS</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp20</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -130,6 +133,7 @@
       <SDLCheck>true</SDLCheck>
       <PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions);WINDOWS</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
+      <LanguageStandard>stdcpp20</LanguageStandard>
     </ClCompile>
     <Link>
       <SubSystem>Console</SubSystem>
@@ -141,10 +145,12 @@
   <ItemGroup>
     <ClCompile Include="main.cpp" />
     <ClCompile Include="MainLoop.cpp" />
+    <ClCompile Include="Motor.cpp" />
     <ClCompile Include="OSerialBus.cpp" />
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="MainLoop.h" />
+    <ClInclude Include="Motor.h" />
     <ClInclude Include="OSerialBus.h" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />

MotionCore/MotionCore.vcxproj.filters

@@ -24,6 +24,9 @@
     <ClCompile Include="OSerialBus.cpp">
       <Filter>Quelldateien</Filter>
     </ClCompile>
+    <ClCompile Include="Motor.cpp">
+      <Filter>Quelldateien</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="MainLoop.h">
@@ -32,5 +35,8 @@
     <ClInclude Include="OSerialBus.h">
       <Filter>Headerdateien</Filter>
     </ClInclude>
+    <ClInclude Include="Motor.h">
+      <Filter>Headerdateien</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

MotionCore/Motor.cpp

@@ -0,0 +1,67 @@
+#include "Motor.h"
+#include <algorithm>
+
+Motor::Motor(
+	const std::size_t index,
+	OSerialBus& serialBus,
+	const double initialPosition,
+	const double mechanicalMinDeg,
+	const double mechanicalMaxDeg,
+	const double homePosition
+) noexcept:
+	index(index),
+	serialBus(serialBus),
+	currentPosition(initialPosition),
+	mechanicalMinDeg(mechanicalMinDeg),
+	mechanicalMaxDeg(mechanicalMaxDeg),
+	homePosition(homePosition)
+{
+}
+
+Motor::Motor(Motor&& other) noexcept:
+	index(other.index),
+	serialBus(other.serialBus),
+	currentPosition(other.currentPosition),
+	mechanicalMinDeg(other.mechanicalMinDeg),
+	mechanicalMaxDeg(other.mechanicalMaxDeg),
+	homePosition(other.homePosition)
+{
+	
+}
+
+bool Motor::moveTo(const double theta) noexcept
+{
+	if (theta < mechanicalMinDeg || theta > mechanicalMaxDeg) {
+		return false;
+	}
+
+	char buffer[32];
+	snprintf(buffer, sizeof(buffer), "MA %d %d", (int)index, (int)theta);
+	bool result = serialBus.sendl(buffer);
+	if (result) {
+		currentPosition = theta;
+	}
+	return result;
+}
+
+bool Motor::moveBy(const double theta) noexcept
+{
+	const double acuteTarget = currentPosition + theta;
+
+	if (acuteTarget < mechanicalMinDeg || acuteTarget > mechanicalMaxDeg) {
+		return false;
+	}
+
+	char buffer[32];
+	snprintf(buffer, sizeof(buffer), "MA %d %d", (int)index, (int)acuteTarget);
+	bool result = serialBus.sendl(buffer);
+	if (result) {
+		currentPosition = acuteTarget;
+	}
+	return result;
+}
+
+bool Motor::moveHome() noexcept
+{
+	return moveTo(homePosition);
+}

MotionCore/Motor.h

@@ -0,0 +1,36 @@
+#pragma once
+#include "OSerialBus.h"
+
+class Motor
+{
+public:
+	Motor(
+		const std::size_t index,
+		OSerialBus& serialBus,
+		const double initialPosition,
+		const double mechanicalMinDeg,
+		const double mechanicalMaxDeg,
+		const double homePosition
+	) noexcept;
+
+	Motor(const Motor& other) = delete;
+	Motor(Motor&& other) noexcept;
+
+	bool moveTo(const double theta) noexcept;
+	bool moveBy(const double theta) noexcept;
+	bool moveHome() noexcept;
+
+	std::size_t getIndex() const { return index; };
+	double getCurrentPosition() const { return currentPosition; };
+	double getMechanicalMinDeg() const { return mechanicalMinDeg; };
+	double getMechanicalMaxDeg() const { return mechanicalMaxDeg; };
+	double getHomePosition() const { return homePosition; };
+
+private:
+	const std::size_t index;
+	OSerialBus& serialBus;
+	double currentPosition = 0;
+	const double mechanicalMinDeg;
+	const double mechanicalMaxDeg;
+	const double homePosition;
+};

MotionCore/OSerialBus.cpp

@@ -112,16 +112,6 @@ bool OSerialBus::sendl(const std::string& line) noexcept
 	return send("\n");
 }
 
-int OSerialBus::getBaudRate() const noexcept
-{
-	return baudRate;
-}
-
-const std::wstring& OSerialBus::getComPort() const noexcept
-{
-	return comPort;
-}
-
 OSerialBus& OSerialBus::operator<<(const std::string& in)
 {
 	if (!send(in)) {

MotionCore/OSerialBus.h

@@ -16,8 +16,8 @@ public:
 	bool send(const std::string& line) noexcept;
 	bool sendl(const std::string& line) noexcept;
 
-	int getBaudRate() const noexcept;
+	int getBaudRate() const noexcept { return baudRate; };
-	const std::wstring& getComPort() const noexcept;
+	const std::wstring& getComPort() const noexcept { return comPort; };
 
 	// Alias for send()
 	OSerialBus& operator<<(const std::string& in);

MotionCore/main.cpp

@@ -1,6 +1,9 @@
 #include <iostream>
 #include "MainLoop.h"
 #include "OSerialBus.h"
+#include "Motor.h"
+#include <thread>
+#include <chrono>
 
 int main()
 {
@@ -10,10 +13,35 @@ int main()
         return -1;
     }
     
-    if (!bus.send("MA 1 60\n")) {
+    Motor j0(
-        std::cerr << "Could not send command!" << std::endl;
+        0,
-        return -1;
+        bus,
-    }
+        125.0,
+        30.0,
+        180.0,
+        125.0
+    );
+    j0.moveHome();
+
+    Motor j1(
+        1,
+        bus,
+        51.0,
+        0.0,
+        120.0,
+        51.0
+    );
+    j1.moveHome();
+
+    Motor j2(
+        2,
+        bus,
+        115.0,
+        0.0,
+        180.0,
+        115.0
+    );
+    j2.moveHome();
 
 
     bus.close();