somanet_drive.h

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#pragma once
 
#include <expected>
#include <string>
 
#include "node/cia402_drive.h"
#include "node/synapticon.h"
 
namespace mm::node {
 
class SomanetDrive : public Cia402Drive {
 public:
  explicit SomanetDrive(Device& device) : Cia402Drive(device) {}
 
  // SOMANET-specific synchronous object-dictionary accessors are added here as their object
  // indices are confirmed (encoder type/resolution, motor pole pairs, commutation offset, ...).
  // Each is a thin typed read/write over device(); none holds state.
};
 
std::expected<SomanetDrive, std::string> createSomanetDrive(Device& device);
 
}  // namespace mm::node