multi_motor_controller_hand.h

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/*
 * multi_motor_controller_h_bridge.h
 *
 *  Created on: Mar 5, 2025
 *      Author: Andrey Ovodov
 */
 
#ifndef MOTORS_CONTROLLERS_HAND_MULTI_MOTOR_CONTROLLER_HAND_H_
#define MOTORS_CONTROLLERS_HAND_MULTI_MOTOR_CONTROLLER_HAND_H_
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
#include "../mult_motor_controller.h"
 
#include "Data/hand_gesture_description.h"
#include "Data/hand_parameter_description.h"
#include "Data/device_info_structs.h"
 
typedef enum {
    HME_NORMAL = 0,
    HME_CALIBRATING,
    HME_CYCLES,
    HME_BINDING_CONTROL,
}hand_mode_enum;
 
typedef enum {
    HMS_STOP = 0,
    HMS_OPEN,
    HMS_CLOSE
}hand_move_status_enum;
 
typedef enum
{
    FE_INDEX_FINGER,
    FE_MIDDLE_FINGER,
    FE_RING_FINGER,
    FE_PINKIE_FINGER,
    FE_THUMB_FINGER,
    FE_NUM
}fingers_enum;
 
typedef struct
{
 
    open_close_threshold_param_struct thresold;
 
    uint8_t         current_gesture;
    uint8_t         hand_control_mode;
    uint8_t         global_force;
    uint32_t        max_current;
    uint8_t         enable_optic_timer_timeout;
    uint8_t         enable_optic_selector;
    uint8_t         first_finger_channel;
 
 
}__attribute__((__packed__))hand_settings_t;
 
 
 
#ifdef DRIVE_NUM
 
typedef struct
{
 
    multi_motor_controller_base_t Base;
 
    hand_mode_enum mode;
 
    hand_settings_t *settings;
    uint8_t gesture_num;
    GesturesCollectionInfo_struct *gesture_collection;
    UserGesturesInfo_struct *user_gesture_collection;
 
    uint8_t current_calibrate_finger;
 
    hand_move_status_enum move_status;
    open_close_signal_param_struct signal_param_p;
    bool motor_movement_is_enabled;
 
    uint8_t finger_calibration_timeout_timer_instance;
 
    //Functions
    MultiMotorSelfFunc_t ProcessSignal;
    MultiMotorSelfFunc_t OpenGesture;
    MultiMotorSelfFunc_t CloseGesture;
    MultiMotorSelfFunc_t WiggleMotors;
    MultiMotorFunc_t SaveDataCallback;
}multi_motor_controller_hand_t;
 
 
void MultMotorControllerHandInit(multi_motor_controller_hand_t *self);
 
#endif
#ifdef __cplusplus
}
#endif
 
#endif /* MOTORS_CONTROLLERS_HAND_MULTI_MOTOR_CONTROLLER_HAND_H_ */