testing-software/Node/Actuation/Actuation.h at 052797cb9580728205d2f7c3068176d7a0555c80 · ParadigmHyperloop/testing-software · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
#include <Arduino.h>
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <mcp2515.h>

class ActuationManager
{
public:
    ActuationManager(TwoWire*, MCP2515*);

    MCP2515::ERROR receiveCommand(can_frame*);
    MCP2515::ERROR handleCommand(can_frame*);

private:
    enum ECommandResponse : uint8_t
    {
        eHeartbeat = 10,
        eInitCommand = 12,
        eInitResponse = 14,
        eSpeedCommand = 16,
        eSpeedResponse = 18,
        eStepCommand = 20,
        eStepResponse = 22
    };

    struct StepperCommand
    {
        uint16_t nSteps;
        uint8_t u8Direction;
        uint8_t u8Style;
    };

    MCP2515::ERROR InitStepper(uint16_t, uint8_t);
    MCP2515::ERROR sendInitStepperResponse(uint16_t, uint8_t);

    MCP2515::ERROR setStepperSpeed(uint16_t, uint8_t);
    MCP2515::ERROR sendStepperSpeedResponse(uint16_t, uint8_t);

    MCP2515::ERROR stepperCommand(StepperCommand, uint8_t);
    MCP2515::ERROR stepperResponse(StepperCommand, uint8_t);

    MCP2515::ERROR sendHeartbeat();

    TwoWire* m_pI2C;
    MCP2515* m_can;
    Adafruit_MotorShield m_motorShield;
    Adafruit_StepperMotor* m_apSteppers[2];
};