cogging_torque_compensation.h

Go to the documentation of this file.

#pragma once
 
#include <chrono>
#include <cstdint>
#include <map>
#include <string>
 
#include "cia402_drive.h"
 
class MotionMasterError;
 
class CoggingTorqueCompensation {
 public:
  enum class State {
    kRecordingNoData,
    kRecordingInProgress,
    kRecordingSaving,
    kRecordingDataExists
  };

  explicit CoggingTorqueCompensation(Cia402Drive& cia402_drive);

  MotionMasterError enable(bool enable);

  MotionMasterError record_cogging_torque(bool auto_config);
 
 private:
  Cia402Drive& cia402_drive_;
 
  Cia402Drive::EncoderFunction commutation_encoder_function_;
  std::map<uint16_t, Cia402Drive::EncoderFunction> old_encoder_functions_;

  MotionMasterError initialize_recording();

  MotionMasterError deinitialize_recording();

  MotionMasterError do_record_cogging_torque();

  MotionMasterError start_with_auto_config();

  MotionMasterError start_without_auto_config();
};