ODrive/Arduino/ODriveArduino/ODriveArduino.h

#ifndef ODriveArduino_h
#define ODriveArduino_h

#include "Arduino.h"

class ODriveArduino {
public:
    enum AxisState_t {
        AXIS_STATE_UNDEFINED = 0,           //<! will fall through to idle
        AXIS_STATE_IDLE = 1,                //<! disable PWM and do nothing
        AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
        AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,   //<! run all calibration procedures, then idle
        AXIS_STATE_MOTOR_CALIBRATION = 4,   //<! run motor calibration
        AXIS_STATE_SENSORLESS_CONTROL = 5,  //<! run sensorless control
        AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
        AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
        AXIS_STATE_CLOSED_LOOP_CONTROL = 8  //<! run closed loop control
    };

    ODriveArduino(Stream& serial);

    // Commands
    void SetPosition(int motor_number, float position);
    void SetPosition(int motor_number, float position, float velocity_feedforward);
    void SetPosition(int motor_number, float position, float velocity_feedforward, float current_feedforward);
    void SetVelocity(int motor_number, float velocity);
    void SetVelocity(int motor_number, float velocity, float current_feedforward);
    void SetCurrent(int motor_number, float current);
    void TrapezoidalMove(int motor_number, float position);
    // Getters
    float GetVelocity(int motor_number);
    float GetPosition(int motor_number);
    // General params
    float readFloat();
    int32_t readInt();

    // State helper
    bool run_state(int axis, int requested_state, bool wait_for_idle, float timeout = 10.0f);
private:
    String readString();

    Stream& serial_;
};

#endif //ODriveArduino_h