step_response.h

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#pragma once
 
#include <cstdint>
 
class Cia402Drive;
class MotionMasterError;
 
class StepResponse {
 public:
  StepResponse(Cia402Drive& cia402_drive, int64_t target, uint32_t sustain_time,
               bool repeat, bool absolute_target = false);
 
  ~StepResponse();

  MotionMasterError start_simple_position_step_response();

  MotionMasterError start_simple_velocity_step_response();

  MotionMasterError start_simple_torque_step_response();

  MotionMasterError start_advanced_position_step_response();

  MotionMasterError start_advanced_velocity_step_response();

  MotionMasterError start_advanced_torque_step_response();
 
 private:
  Cia402Drive& cia402_drive_;
  int32_t target_;
  uint32_t sustain_time_ms_;
  bool repeat_;           // Used for advanced step response only
  bool absolute_target_;  // Used for position only

  void interruptible_sustain(uint32_t sustain_time_ms);

  void run_simple_position_step_response();

  void run_simple_velocity_step_response();

  void run_simple_torque_step_response();
};