CopleyDrive.cpp

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#include "CopleyDrive.h"

#include <iostream>

#include "DebugMacro.h"

CopleyDrive::CopleyDrive(int NodeID) : Drive::Drive(NodeID) {
    this->NodeID = NodeID;
}
CopleyDrive::~CopleyDrive() {
    DEBUG_OUT(" CopleyDrive Deleted ")
}

bool CopleyDrive::Init() {
    return false;
}

bool CopleyDrive::initPosControl(motorProfile posControlMotorProfile) {
    DEBUG_OUT("NodeID " << NodeID << " Initialising Position Control")

    sendSDOMessages(generatePosControlConfigSDO(posControlMotorProfile));

    // \Todo set additional parameters (bit 5 in 0x6041 makes updates happen immediately)
    return true;
}

bool CopleyDrive::initVelControl() {
    return true;
}

bool CopleyDrive::initTorqControl() {
    return true;
}