cogging_torque_compensation.h

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#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();
};