motor.h

#ifndef MOTOR_H
#define MOTOR_H
 
 
#include <string>
#include <thread>
 
#include "joint_level_control/motor/hacker.h" 
 
class Motor
{
public:
    Motor(const std::string& can_name, uint8_t can_id);
    ~Motor();
    void setCurrent(double current);
    int writeCAN(can_frame* frame);
 
private:
    void startAcknowldegeTask();
    int m_error;
 
private:
    int can_socket_;
    CurrentControl current_control_;
    std::thread acknowledge_thread_;
};
 
 
#endif