open_loop_field_control.h

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#pragma once
 
#include <cstdint>
 
#include "device_procedure.h"
#include "motion_master_error.h"
 
class Cia402Drive;
 
class OpenLoopFieldControl : public DeviceProcedure {
 public:
  explicit OpenLoopFieldControl(Cia402Drive& cia402_drive, int32_t angle,
                                uint32_t velocity, uint32_t acceleration,
                                uint32_t torque, uint32_t torque_speed);

  MotionMasterError init() override;

  MotionMasterError start() override;

  bool is_done() override;

  MotionMasterError get_result() override;

  MotionMasterError deinit() override;
 
 private:
  Cia402Drive& cia402_drive_;
 
  int32_t angle_;
  uint32_t velocity_;
  uint32_t acceleration_;
  uint32_t torque_;
  uint32_t torque_speed_;
 
  MotionMasterError result_;
};