ned3pro_stepper_driver.hpp

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/*
ned3pro_stepper_driver.hpp
Copyright (C) 2024 Niryo
All rights reserved.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http:// www.gnu.org/licenses/>.
*/
 
#ifndef NED3PRO_STEPPER_DRIVER_HPP
#define NED3PRO_STEPPER_DRIVER_HPP
 
#include <memory>
#include <vector>
#include <string>
#include <iostream>
#include <sstream>
 
#include <ros/duration.h>
#include <ros/console.h>
 
#include "abstract_stepper_driver.hpp"
 
#include "ned3pro_stepper_reg.hpp"
 
namespace ttl_driver
{
 
    template <typename reg_type = Ned3ProStepperReg>
    class Ned3ProStepperDriver : public AbstractStepperDriver
    {
    public:
        Ned3ProStepperDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                          std::shared_ptr<dynamixel::PacketHandler> packetHandler);
 
    public:
        // AbstractTtlDriver interface
        std::string str() const override;
 
        int checkModelNumber(uint8_t id) override;
        int readFirmwareVersion(uint8_t id, std::string &version) override;
 
        int readTemperature(uint8_t id, uint8_t &temperature) override;
        int readVoltage(uint8_t id, double &voltage) override;
        int readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status) override;
 
        int syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list) override;
        int syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list) override;
        int syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
        int syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list) override;
        int syncReadHwStatus(const std::vector<uint8_t> &id_list, std::vector<std::pair<double, uint8_t>> &data_list) override;
 
        int syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list) override;
 
    public:
        // AbstractMotorDriver interface : we cannot define them globally in AbstractMotorDriver
        // as it is needed here for polymorphism (AbstractMotorDriver cannot be a template class and does not
        // have access to reg_type). So it seems like a duplicate of DxlDriver
 
        int changeId(uint8_t id, uint8_t new_id) override;
 
        int writeTorquePercentage(uint8_t id, uint8_t torque_percentage) override;
        int writePositionGoal(uint8_t id, uint32_t position) override;
        int writeVelocityGoal(uint8_t id, uint32_t velocity) override;
 
        int syncWriteTorquePercentage(const std::vector<uint8_t> &id_list, const std::vector<uint8_t> &torque_percentage_list) override;
        int syncWritePositionGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &position_list) override;
        int syncWriteVelocityGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &velocity_list) override;
 
        // ram read
        int readPosition(uint8_t id, uint32_t &present_position) override;
        int readVelocity(uint8_t id, uint32_t &present_velocity) override;
 
        int syncReadPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list) override;
        int syncReadVelocity(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list) override;
        int syncReadJointStatus(const std::vector<uint8_t> &id_list, std::vector<std::array<uint32_t, 2>> &data_array_list) override;
 
        // AbstractStepperDriver interface
    public:
        common::model::EStepperCalibrationStatus interpretHomingData(uint8_t status) const override;
        
        int writeControlMode(uint8_t id, uint8_t operating_mode) override;
        int writeVelocityProfile(uint8_t id, const uint32_t &velocity_profile);
        int writeAccelerationProfile(uint8_t id, const uint32_t &acceleration_profile);
 
        int factoryCalibration(const uint8_t id, const uint32_t &control);
        int readStatus(uint8_t id, const uint32_t &status);
        int readEncAngle(uint8_t id, const uint32_t &enc_angle);
 
        int readFirmwareRunning(uint8_t id, bool &is_running) override;
 
        // unused inherited methods
        int readMinPosition(uint8_t id, uint32_t &min_pos) override;
        int readMaxPosition(uint8_t id, uint32_t &max_pos) override;
 
        int readControlMode(uint8_t id, uint8_t &operating_mode) override;
        int readVelocityProfile(uint8_t id, std::vector<uint32_t> &data_list) override;
        int writeVelocityProfile(uint8_t id, const std::vector<uint32_t> &data_list) override;
 
        // ram write
        int startHoming(uint8_t id);
        int writeHomingSetup(uint8_t id, uint8_t direction, uint8_t stall_threshold);
 
        // read
        int readHomingStatus(uint8_t id, uint8_t &status);
        int syncReadHomingStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &status_list);
        int syncReadHomingAbsPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &abs_position);
        int syncWriteHomingAbsPosition(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &abs_position);
 
        // parameters
        float velocityUnit() const override;
    };
 
    // definition of methods
 
    template <typename reg_type>
    Ned3ProStepperDriver<reg_type>::Ned3ProStepperDriver(std::shared_ptr<dynamixel::PortHandler> portHandler,
                                                   std::shared_ptr<dynamixel::PacketHandler> packetHandler) : AbstractStepperDriver(std::move(portHandler),
                                                                                                                                    std::move(packetHandler))
    {
    }
 
    //*****************************
    // AbstractMotorDriver interface
    //*****************************
 
    template <typename reg_type>
    std::string Ned3ProStepperDriver<reg_type>::str() const
    {
        return common::model::HardwareTypeEnum(reg_type::motor_type).toString() + " : " + AbstractStepperDriver::str();
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::changeId(uint8_t id, uint8_t new_id)
    {
        // TODO(THUC) verify that COMM_RX_TIMEOUT error code do not impact on data sent to motor
        // when COMM_RX_TIMEOUT error, id changed also, so we consider that change id successfully
        int res = write<typename reg_type::TYPE_ID>(reg_type::ADDR_ID, id, new_id);
        if (res == COMM_RX_TIMEOUT)
            res = COMM_SUCCESS;
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::checkModelNumber(uint8_t id)
    {
        uint16_t model_number = 0;
        int ping_result = getModelNumber(id, model_number);
 
        if (ping_result == COMM_SUCCESS)
        {
            if (model_number && model_number != reg_type::MODEL_NUMBER)
            {
                return PING_WRONG_MODEL_NUMBER;
            }
        }
 
        return ping_result;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readFirmwareVersion(uint8_t id, std::string &version)
    {
        int res = 0;
        uint32_t data{};
        res = read<typename reg_type::TYPE_FIRMWARE_VERSION>(reg_type::ADDR_FIRMWARE_VERSION, id, data);
        version = interpretFirmwareVersion(data);
        return res;
    }
 
    // ram write
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeTorquePercentage(uint8_t id, uint8_t torque_percentage)
    {
        return write<typename reg_type::TYPE_TORQUE_ENABLE>(reg_type::ADDR_TORQUE_ENABLE, id, torque_percentage);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writePositionGoal(uint8_t id, uint32_t position)
    {
        return write<typename reg_type::TYPE_GOAL_POSITION>(reg_type::ADDR_GOAL_POSITION, id, position);
    }
 
    // according to the registers, the data should be an int32_t ?
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeVelocityGoal(uint8_t id, uint32_t velocity)
    {
        return write<typename reg_type::TYPE_GOAL_VELOCITY>(reg_type::ADDR_GOAL_VELOCITY, id, velocity);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncWriteTorquePercentage(const std::vector<uint8_t> &id_list, const std::vector<uint8_t> &torque_percentage_list)
    {
        return syncWrite<typename reg_type::TYPE_TORQUE_ENABLE>(reg_type::ADDR_TORQUE_ENABLE, id_list, torque_percentage_list);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncWritePositionGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &position_list)
    {
        return syncWrite<typename reg_type::TYPE_GOAL_POSITION>(reg_type::ADDR_GOAL_POSITION, id_list, position_list);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncWriteVelocityGoal(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &velocity_list)
    {
        return syncWrite<typename reg_type::TYPE_GOAL_VELOCITY>(reg_type::ADDR_GOAL_VELOCITY, id_list, velocity_list);
    }
 
    // ram read
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readPosition(uint8_t id, uint32_t &present_position)
    {
        return read<typename reg_type::TYPE_PRESENT_POSITION>(reg_type::ADDR_PRESENT_POSITION, id, present_position);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readVelocity(uint8_t id, uint32_t &present_velocity)
    {
        return read<typename reg_type::TYPE_PRESENT_VELOCITY>(reg_type::ADDR_PRESENT_VELOCITY, id, present_velocity);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readTemperature(uint8_t id, uint8_t &temperature)
    {
        return read<typename reg_type::TYPE_PRESENT_TEMPERATURE>(reg_type::ADDR_PRESENT_TEMPERATURE, id, temperature);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readVoltage(uint8_t id, double &voltage)
    {
        uint16_t voltage_mV = 0;
        int res = read<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id, voltage_mV);
        voltage = static_cast<double>(voltage_mV) / reg_type::VOLTAGE_CONVERSION;
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readHwErrorStatus(uint8_t id, uint8_t &hardware_error_status)
    {
        return read<typename reg_type::TYPE_HW_ERROR_STATUS>(reg_type::ADDR_HW_ERROR_STATUS, id, hardware_error_status);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &position_list)
    {
        return syncRead<typename reg_type::TYPE_PRESENT_POSITION>(reg_type::ADDR_PRESENT_POSITION, id_list, position_list);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadVelocity(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &velocity_list)
    {
        return syncRead<typename reg_type::TYPE_PRESENT_VELOCITY>(reg_type::ADDR_PRESENT_VELOCITY, id_list, velocity_list);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadJointStatus(const std::vector<uint8_t> &id_list,
                                                         std::vector<std::array<uint32_t, 2>> &data_array_list)
    {
        int res = COMM_TX_FAIL;
 
        if (id_list.empty())
            return res;
 
        data_array_list.clear();
 
        // read torque enable on first id
        typename reg_type::TYPE_TORQUE_ENABLE torque{1};
        res = read<typename reg_type::TYPE_TORQUE_ENABLE>(reg_type::ADDR_TORQUE_ENABLE, id_list.at(0), torque);
        if (COMM_SUCCESS != res)
            std::cout << "#############"
                         " ERROR reading stepper torque in syncReadJointStatus (error "
                      << res << ")" << std::endl;
 
        // if torque on, read position and velocity
        if (torque)
        {
            res = syncReadConsecutiveBytes<uint32_t, 2>(reg_type::ADDR_PRESENT_VELOCITY, id_list, data_array_list);
        }
        else // else read position only
        {
            std::vector<uint32_t> position_list;
            res = syncReadPosition(id_list, position_list);
            for (auto p : position_list)
                data_array_list.emplace_back(std::array<uint32_t, 2>{1, p});
        }
 
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadFirmwareVersion(const std::vector<uint8_t> &id_list, std::vector<std::string> &firmware_list)
    {
        int res = 0;
        firmware_list.clear();
        std::vector<uint32_t> data_list{};
        res = syncRead<typename reg_type::TYPE_FIRMWARE_VERSION>(reg_type::ADDR_FIRMWARE_VERSION, id_list, data_list);
        for (auto const &data : data_list)
            firmware_list.emplace_back(interpretFirmwareVersion(data));
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadTemperature(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &temperature_list)
    {
        return syncRead<typename reg_type::TYPE_PRESENT_TEMPERATURE>(reg_type::ADDR_PRESENT_TEMPERATURE, id_list, temperature_list);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list)
    {
        voltage_list.clear();
        std::vector<uint16_t> v_read;
        int res = syncRead<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, v_read);
        for (auto const &v : v_read)
            voltage_list.emplace_back(static_cast<double>(v) / reg_type::VOLTAGE_CONVERSION);
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadRawVoltage(const std::vector<uint8_t> &id_list, std::vector<double> &voltage_list)
    {
        voltage_list.clear();
        std::vector<uint16_t> v_read;
        int res = syncRead<typename reg_type::TYPE_PRESENT_VOLTAGE>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, v_read);
        for (auto const &v : v_read)
            voltage_list.emplace_back(static_cast<double>(v));
        return res;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadHwStatus(const std::vector<uint8_t> &id_list,
                                                      std::vector<std::pair<double, uint8_t>> &data_list)
    {
        data_list.clear();
 
        std::vector<std::array<uint8_t, 3>> raw_data;
        int res = syncReadConsecutiveBytes<uint8_t, 3>(reg_type::ADDR_PRESENT_VOLTAGE, id_list, raw_data);
 
        for (auto const &data : raw_data)
        {
            // Voltage is first reg, uint16
            auto v = static_cast<uint16_t>((static_cast<uint16_t>(data.at(1)) << 8) | data.at(0)); // concatenate 2 bytes
            auto voltage = static_cast<double>(v);
 
            // Temperature is second reg, uint8
            uint8_t temperature = data.at(2);
 
            data_list.emplace_back(std::make_pair(voltage, temperature));
        }
 
        return res;
    }
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadHwErrorStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &hw_error_list)
    {
        return syncRead<typename reg_type::TYPE_HW_ERROR_STATUS>(reg_type::ADDR_HW_ERROR_STATUS, id_list, hw_error_list);
    }
 
    //*****************************
    // AbstractStepperDriver interface
    //*****************************
 
    template <typename reg_type>
    common::model::EStepperCalibrationStatus Ned3ProStepperDriver<reg_type>::interpretHomingData(uint8_t status) const
    {
        enum Ned3ProStepperCalibrationStatus {
            UNINITIALIZED_MASK = 0,
            IN_PROGRESS_MASK = 2,
            OK_MASK = 4,
            FAIL_MASK = 8
        };
 
        return status & IN_PROGRESS_MASK ? common::model::EStepperCalibrationStatus::IN_PROGRESS 
               : status & FAIL_MASK ? common::model::EStepperCalibrationStatus::FAIL
               : status & OK_MASK ? common::model::EStepperCalibrationStatus::OK
               : common::model::EStepperCalibrationStatus::FAIL;
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeControlMode(uint8_t id, uint8_t operating_mode)
    {
        return write<typename reg_type::TYPE_OPERATING_MODE>(reg_type::ADDR_OPERATING_MODE, id, operating_mode);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeVelocityProfile(uint8_t id, const uint32_t &velocity_profile)
    {
        return write<typename reg_type::TYPE_PROFILE_VELOCITY>(reg_type::ADDR_PROFILE_VELOCITY, id, velocity_profile);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeAccelerationProfile(uint8_t id, const uint32_t &acceleration_profile)
    {
        return write<typename reg_type::TYPE_PROFILE_ACCELERATION>(reg_type::ADDR_PROFILE_ACCELERATION, id, acceleration_profile);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::factoryCalibration(const uint8_t id, const uint32_t &command)
    {
        return write<typename reg_type::TYPE_CONTROL>(reg_type::ADDR_CONTROL, id, command);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readStatus(uint8_t id, const uint32_t &status)
    {
        return read<typename reg_type::TYPE_STATUS>(reg_type::ADDR_STATUS, id, status);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadHomingStatus(const std::vector<uint8_t> &id_list, std::vector<uint8_t> &status_list)
    {
        std::vector<uint32_t> status_list_tmp;
        auto result = syncRead<typename reg_type::TYPE_STATUS>(reg_type::ADDR_STATUS, id_list, status_list_tmp);
        for (const auto &status_tmp : status_list_tmp)
            status_list.push_back(static_cast<uint8_t>(status_tmp));
 
        return result;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readEncAngle(uint8_t id, const uint32_t &enc_angle)
    {
        return read<typename reg_type::TYPE_ENC_ANGLE>(reg_type::ADDR_ENC_ANGLE, id, enc_angle);
    }
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readFirmwareRunning(uint8_t id, bool &is_running)
    {
        typename reg_type::TYPE_FIRMWARE_RUNNING data{};
        int res = read<typename reg_type::TYPE_FIRMWARE_RUNNING>(reg_type::ADDR_FIRMWARE_RUNNING, id, data);
        is_running = data;
        return res;
    }
 
    // unused inherited methods
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readMinPosition(uint8_t id, uint32_t &min_pos)
    {
        ROS_WARN("Ned3ProStepperDriver::readMinPosition - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readMaxPosition(uint8_t id, uint32_t &max_pos)
    {
        ROS_WARN("Ned3ProStepperDriver::readMaxPosition - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readControlMode(uint8_t id, uint8_t &mode)
    {
        ROS_WARN("Ned3ProStepperDriver::readControlMode - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readVelocityProfile(uint8_t id, std::vector<uint32_t> &data_list)
    {
        ROS_WARN("Ned3ProStepperDriver::readVelocityProfile std::vector<uint32_t> &data_list - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeVelocityProfile(uint8_t id, const std::vector<uint32_t> &data_list)
    {
        int tries = 10;
        int res = COMM_RX_FAIL;
        double wait_duration = 0.05;
 
        // Random positive value to activate the torque, we need this to write on other registers
        constexpr auto ACTIVE_TORQUE_PERCENT = 40;  
        writeTorquePercentage(id, ACTIVE_TORQUE_PERCENT);
 
        tries = 10;
        while (tries > 0) // try 10 times
        {
            tries--;
            ros::Duration(wait_duration).sleep();
            res = write<typename reg_type::TYPE_PROFILE_VELOCITY>(reg_type::ADDR_PROFILE_VELOCITY, id, data_list.at(4));
            if (res == COMM_SUCCESS)
                break;
        }
        if (res != COMM_SUCCESS)
            return res;
 
        tries = 10;
        while (tries > 0) // try 10 times
        {
            tries--;
            ros::Duration(wait_duration).sleep();
            res = write<typename reg_type::TYPE_PROFILE_ACCELERATION>(reg_type::ADDR_PROFILE_ACCELERATION, id, data_list.at(3));
            if (res == COMM_SUCCESS)
                break;
        }
 
        return res;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::startHoming(uint8_t id)
    {
        ROS_WARN("Ned3ProStepperDriver::startHoming - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::writeHomingSetup(uint8_t id, uint8_t direction, uint8_t stall_threshold)
    {
        ROS_WARN("Ned3ProStepperDriver::writeHomingSetup - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    // read
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::readHomingStatus(uint8_t id, uint8_t &status)
    {
        ROS_WARN("Ned3ProStepperDriver::readHomingStatus - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncReadHomingAbsPosition(const std::vector<uint8_t> &id_list, std::vector<uint32_t> &abs_position)
    {
        ROS_WARN("Ned3ProStepperDriver::syncReadHomingAbsPosition - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
    template <typename reg_type>
    int Ned3ProStepperDriver<reg_type>::syncWriteHomingAbsPosition(const std::vector<uint8_t> &id_list, const std::vector<uint32_t> &abs_position)
    {
        ROS_WARN("Ned3ProStepperDriver::syncWriteHomingAbsPosition - Not implemented");
 
        return COMM_NOT_AVAILABLE;
    };
 
    template <typename reg_type>
    float Ned3ProStepperDriver<reg_type>::velocityUnit() const
    {
        return reg_type::VELOCITY_UNIT;
    }
} // ttl_driver
 
#endif // NED3PRO_STEPPER_DRIVER_HPP