diagnostics.h

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#pragma once
 
#include <stdint.h>
 
#include <optional>
 
class Cia402Drive;
class MotionMasterError;
 
class Diagnostics {
 public:
  explicit Diagnostics(Cia402Drive &cia402_drive);
 
  MotionMasterError motor_phase_order_detection(bool standalone = true);
 
  MotionMasterError commutation_offset_measurement(bool standalone = true);
 
  MotionMasterError open_phase_detection(bool standalone = true);
 
  MotionMasterError pole_pair_detection(bool standalone = true);
 
  MotionMasterError phase_resistance_measurement(bool standalone = true);
 
  MotionMasterError phase_inductance_measurement(bool standalone = true);
 
  MotionMasterError torque_constant_measurement(bool standalone = true);
 
  int offset_detection_step(uint32_t iStep, bool brake_initially_engaged);
 
 private:
  Cia402Drive &cia402_drive_;
 
  MotionMasterError init(std::optional<bool> engage_brake = std::nullopt);
 
  MotionMasterError deinit();
 
  MotionMasterError restore_brake_state(bool brake_initially_engaged);
};