movement.h

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//
// Created by noeel on 6-1-19.
//

#ifndef ARUNA_MOVEMENT_H
#define ARUNA_MOVEMENT_H

#include <stdint.h>
#include "aruna/movement/movementTypes.h"
#include "aruna/movement/Actuator.h"
namespace aruna { namespace movement {
// variables


// functions


axis_mask_t get_active_axis();

status_t start();

status_t stop();

status_t get_status();

void* comm_handler_task(void *arg);


void set_damping(axis_mask_t axisMask, damping_t damp);

damping_t get_damping(axis_mask_t single_axis);
err_t register_driver(Actuator *driver);

err_t unregister_driver(Actuator *driver);
// TODO implement

void calibrate_sensors();

uint8_t test_sensor();

void set_speed(axis_mask_t axisMask, int16_t speed);

void set_velocity(axis_mask_t axisMask, int16_t mm_per_second);

void set_degree(axis_mask_t axisMask, int16_t degree);

int16_t get_speed(axis_mask_t single_axis);

int16_t get_velocity(axis_mask_t single_axis);

int16_t get_degree(axis_mask_t single_axis);


}}
#endif //ARUNA_MOVEMENT_H