resolution.h

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// SPDX-License-Identifier: Apache-2.0
// Copyright 2022 Stéphane Caron
 
#pragma once
 
#include "vulp/actuation/moteus/PositionResolution.h"
#include "vulp/actuation/moteus/QueryCommand.h"
 
namespace vulp::actuation {
 
inline actuation::moteus::QueryCommand get_query_resolution() {
  using actuation::moteus::Resolution;
  actuation::moteus::QueryCommand query;
  query.mode = Resolution::kInt16;
  query.position = Resolution::kInt32;
  query.velocity = Resolution::kInt32;
  query.torque = Resolution::kInt32;
  query.q_current = Resolution::kIgnore;
  query.d_current = Resolution::kIgnore;
  query.rezero_state = Resolution::kIgnore;
  query.voltage = Resolution::kInt8;
  query.temperature = Resolution::kInt8;
  query.fault = Resolution::kInt8;
  return query;
}
 
inline actuation::moteus::PositionResolution get_position_resolution() {
  using actuation::moteus::Resolution;
  actuation::moteus::PositionResolution resolution;
  resolution.position = Resolution::kFloat;
  resolution.velocity = Resolution::kFloat;
  resolution.feedforward_torque = Resolution::kIgnore;
  resolution.kp_scale = Resolution::kFloat;
  resolution.kd_scale = Resolution::kFloat;
  resolution.maximum_torque = Resolution::kFloat;
  resolution.stop_position = Resolution::kIgnore;
  resolution.watchdog_timeout = Resolution::kIgnore;
  return resolution;
}
 
}  // namespace vulp::actuation