ExoRobot.h

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#ifndef EXOROBOT_H_INCLUDED
#define EXOROBOT_H_INCLUDED

#include <time.h>

#include <map>

#include "CopleyDrive.h"
#include "DummyActJoint.h"
#include "DummyTrajectoryGenerator.h"
#include "Keyboard.h"
#include "Robot.h"
#include "RobotParams.h"

class ExoRobot : public Robot {
   private:
    // \todo Load in paramaters and dictionary entries from JSON file.

    double currTrajProgress = 0;
    timespec prevTime;
    motorProfile posControlMotorProfile{4000000, 240000, 240000};

   public:
    ExoRobot(TrajectoryGenerator *tj);
    ~ExoRobot();
    Keyboard keyboard;
    vector<CopleyDrive *> copleyDrives;

    // /**
    //  * @brief Timer Variables for moving through trajectories
    //  *
    //  */
    struct timeval tv, tv_diff, moving_tv, tv_changed, stationary_tv, start_traj, last_tv;

    bool initPositionControl();

    bool moveThroughTraj();

    void startNewTraj();

    bool isTrajFinished();

    bool initialiseJoints();

    bool initialiseNetwork();
    bool initialiseInputs();
    void freeMemory();
    void updateRobot();
    //TODO CHANGE FROM MOTOR COMMANDS TO DEGREES
    std::map<int, double>
        jointMinMap = {{LEFT_HIP, 0.0},
                       {RIGHT_HIP, 0.0},
                       {LEFT_KNEE, 0.0},
                       {RIGHT_KNEE, 0.0},
                       {LEFT_ANKLE, -800000},
                       {RIGHT_ANKLE, -800000}};
    std::map<int, double> jointMaxMap = {{LEFT_HIP, (HIP_MOTOR_POS1 * 1.5)},
                                         {RIGHT_HIP, (HIP_MOTOR_POS1 * 1.5)},
                                         {LEFT_KNEE, (KNEE_MOTOR_POS1 * 1.5)},
                                         {RIGHT_KNEE, (KNEE_MOTOR_POS1 * 1.5)},
                                         {LEFT_ANKLE, -800000},
                                         {RIGHT_ANKLE, -800000}};
};
#endif /*EXOROBOT_H*/