Roboclawx2 Class

[daftpwner]

Implement the Roboclawx2 class for accessing a Roboclawx2 motor controller via serial. This class inherits from the MotorInterface ABC, adding the needed code for interfacing with a Roboclaw with a specific serial device ID and serial port.

[daftpwner]

[daftpwner]

Here is a link to the datasheet. You'll want to implement the Packet Serial method.
http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf

[daftpwner]

For the CRC checksum, that can be implemented as a private class method. That way, it can be reused for the RoboclawX1 in #3.

[Andrewhbyers17]

Here is just sorta skeleton of the class, is this kind of what you had in mind?

[Andrewhbyers17]

`#include <Arduino.h>
#include <RoboClaw.h>
#include <BMSerial.h>

class MotorInterface
{
public:
virtual int Update() = 0;

protected:
bool Pos_Ctrl;
}

class roboclawx2 : public MotorInterface
{
public:
roboclawx2()
{

}

int update() override
{
  return 0;
}

int setPos(double setpoint , int idx = 0)
{

}

int setVel(double setpoint, int idx = 00)
{

}

int getPos(double* setpoint, int idx = 0)
{

}

int getVel(double* setpoint, int idx = 0)
{

}

int setPosLimits(double lower = -1e7, double upper = 1e7, int idx = 0)
{
  if (lower > upper) return 1;
  if (lower > -1e7) pos_lower_limit = lower;
  if (upper < 1e7) pos_upper_limit = upper;

}

int setVelLimits(double lower = -1e7, double upper = 1e7, int idx = 0)
{
  if (lower > upper) return 1;
  if (lower > -1e7) vel_lower_limit = lower;
  if (upper < 1e7) vel_upper_limit = upper;
}

int getPosLimits(double* lower, double* upper, int idx = 0)
{
  if (lower != NULL) *lower = pos_lower_limit;
  if (upper != NULL) *upper = pos_upper_limit;
}

int getVelLimits(double* lower, double* upper, int idx = 0)
{
  if (lower != NULL) *lower = vel_lower_limit;
  if (upper != NULL) *upper = vel_upper_limit;
}

}
void setup() {
// put your setup code here, to run once:
}

void loop() {
// put your main code here, to run repeatedly:
}`

[Andrewhbyers17]

I am not sure what to put into each function