mks_test.hpp

//
// Created by Noah on 2024-06-13.
//
 
#ifndef UMRT_ARM_FIRMWARE_LIB_MKS_TEST_HPP
#define UMRT_ARM_FIRMWARE_LIB_MKS_TEST_HPP
 
#include "MKS_COMMANDS.hpp"
#include "mks_stepper_controller.hpp"
 
#include <string>
#include <thread>
#include <vector>
 
// TODO: Could use some docs
class MksTest {
public:
    MksTest(const std::string& can_interface, std::vector<uint16_t>&& motor_ids, const uint8_t norm_factor = 1);
 
    void update();
 
    void sendTestRoutine();
 
protected:
    MksStepperController s;
    std::thread test_thread;
    const std::vector<uint16_t> motor_ids;
 
    void onSetSpeed(const uint16_t motor, const bool status);
 
    void onSendStep(const uint16_t motor, const MksMoveResponse status);
 
    void onSeekPosition(const uint16_t motor, const MksMoveResponse status);
 
    void onGetPosition(const uint16_t motor, const int32_t position);
};
 
 
#endif //UMRT_ARM_FIRMWARE_LIB_MKS_TEST_HPP