swing_joint.h

#ifndef SWING_JOINT_H
#define SWING_JOINT_H
 
 
#include <string>
 
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
 
#include <joint_limits_interface/joint_limits.h>
#include <joint_limits_interface/joint_limits_interface.h>
//#include <joint_limits_interface/joint_limits_urdf.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
 
#include "joint_level_control/hall_sensor/hall_sensor.h"
#include "joint_level_control/motor/motor.h"
 
 
class SwingJoint : public hardware_interface::RobotHW
{
public:
    SwingJoint(
        const std::string& joint_name,  
        const std::string& spi_device,  
        uint8_t spi_cs_id,              
        uint8_t spi_mode,               
        uint8_t spi_bits,               
        uint32_t spi_speed,             
        uint16_t spi_delay,             
        const std::string& can_name,    
        uint8_t can_id,                 
        double zero_point,              
        double error_command_position,  
        uint spi_error_treshold,        
        uint16_t mux_sel_pin_1,         
        uint16_t mux_sel_pin_2,         
        double joint_min_pos,           
        double joint_max_pos);          
 
    ~SwingJoint(); 
 
    void read();
    void write();
    void calibrate();
    uint getErrorState();
    
private:
    hardware_interface::JointStateInterface joint_state_interface_;
    hardware_interface::EffortJointInterface effort_joint_interface_;
 
    joint_limits_interface::JointLimits limits;
    joint_limits_interface::EffortJointSaturationInterface effortJointSaturationInterface;
    joint_limits_interface::PositionJointSaturationInterface positionJointSaturationInterface;
 
    double position_;   
    double velocity_;
    double effort_;
    double command_position_;
    double error_command_position_; // default value for cmd_pos if errors occur
    uint error_state_; // current error state of the joint. 0: OK, otherwise #error_state errors occured in a row
    uint error_limit_; // max #errors in a row until ERROR state is reached
    double joint_min_pos_; // joint position limits
    double joint_max_pos_;
    
    Motor motor_;
    HallSensor hall_sensor_;
 
    ros::NodeHandle nh_;
};
 
 
#endif