motorEncodersSignCheck.h

/*
 * iCub Robot Unit Tests (Robot Testing Framework)
 *
 * Copyright (C) 2015-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef _MOTORENCODERSSIGNCHECK_H_
#define _MOTORENCODERSSIGNCHECK_H_
 
//#include <string>
#include <yarp/robottestingframework/TestCase.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/sig/Vector.h>
//#include <yarp/sig/Matrix.h>
#include "yarp/robottestingframework/JointsPosMotion.h"
 
 
class MotorEncodersSignCheck : public yarp::robottestingframework::TestCase {
public:
    MotorEncodersSignCheck();
    virtual ~MotorEncodersSignCheck();
 
    virtual bool setup(yarp::os::Property& property);
 
    virtual void tearDown();
 
    virtual void run();
    void setModeSingle(int i, int desired_control_mode, yarp::dev::InteractionModeEnum desired_interaction_mode);
    void OplExecute(int i);
 
private:
 
    yarp::robottestingframework::jointsPosMotion *jPosMotion;
 
    std::string robotName;
    std::string partName;
    yarp::sig::Vector jointsList;
    yarp::sig::Vector home;
    yarp::sig::Vector opl_step;
    yarp::sig::Vector opl_max;
    yarp::sig::Vector opl_delay;
    yarp::sig::Vector max_lims;
    yarp::sig::Vector min_lims;
    yarp::sig::Vector pos_threshold;
    yarp::sig::Vector opl_start;
 
    int    n_part_joints;
 
    yarp::dev::PolyDriver        *dd;
    yarp::dev::IControlMode     *icmd;
    yarp::dev::IInteractionMode  *iimd;
    yarp::dev::IEncoders         *ienc;
    yarp::dev::IPWMControl       *ipwm;
    yarp::dev::IMotorEncoders    *imenc;
    yarp::dev::IPidControl       *ipid;
};
 
#endif //_opticalEncoders_H