DummyActJoint.h

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#ifndef DUMMYACTJOINT_H_INCLUDED
#define DUMMYACTJOINT_H_INCLUDED

#include "ActuatedJoint.h"

class DummyActJoint : public ActuatedJoint {
   private:
    double lastQCommand = 0;

    // These functions are defined here to do essentially nothing - it's a straight 1:1 relation between drive and motor units
    double fromDriveUnits(int driveValue) { return driveValue / 10000; };
    int toDriveUnits(double jointValue) { return jointValue * 10000; };

   public:
    DummyActJoint(int jointID, double jointMin, double jointMax, Drive *drive);
    bool updateValue();
    setMovementReturnCode_t setPosition(double desQ);
    bool initNetwork();
    double getQ();
};

#endif