Add Motor API for multiple synchronous motor control

.gitignore

@@ -1,32 +1,62 @@
-# Prerequisites
-*.d
+# ------------------------------------------------------------------------------
+# Build artifacts
+# ------------------------------------------------------------------------------
 
-# Compiled Object files
-*.slo
-*.lo
+# CMake build directory
+build/
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+Makefile
+
+# Object and output files
 *.o
 *.obj
+*.so
+*.a
+*.dll
+*.dylib
+*.lib
+*.out
+*.exe
+*.app
+*.slo
+*.lo
+*.lai
+*.la
 
-# Precompiled Headers
+# Precompiled headers
 *.gch
 *.pch
 
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
+# Fortran modules
 *.mod
 *.smod
 
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
+# Dependency files
+*.d
 
-# Executables
-*.exe
-*.out
-*.app
+# ------------------------------------------------------------------------------
+# IDE and Editor files
+# ------------------------------------------------------------------------------
+
+# VSCode
+.vscode/
+*.code-workspace
+
+# JetBrains IDEs (CLion, etc.)
+.idea/
+
+# Vim
+*.swp
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+
+# Emacs
+*~
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+# ------------------------------------------------------------------------------
+# System files
+# ------------------------------------------------------------------------------
+
+.DS_Store
+Thumbs.db

CMakeLists.txt

@@ -1,21 +1,35 @@
 cmake_minimum_required(VERSION 3.14)
-project(MyProject)
+project(ExoskeletonFirmware)
 
 # Set C++ standard
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Add source files
-# add_library(MyLibrary src/my_library.cpp)
+# Enable testing
+enable_testing()
 
-# Include GoogleTest
+# Add googletest
 add_subdirectory(googletest)
 
-# Enable testing
-enable_testing()
+# Motor API library
+add_library(motor_api
+    motors/motor_api.cpp
+)
+target_include_directories(motor_api PUBLIC motors)
+target_link_libraries(motor_api PRIVATE modbus)
+
+# Add test for motor API
+add_executable(motor_api_test
+    tests/motor_api_test.cpp
+)
+
+target_include_directories(motor_api_test PRIVATE motors)
+target_link_libraries(motor_api_test
+    motor_api
+    gtest
+    gtest_main
+)
 
-# Add unit tests
-add_executable(sampleTest tests/sample_test.cpp)
-target_link_libraries(sampleTest PRIVATE gtest gtest_main)
+add_test(NAME MotorAPITest COMMAND motor_api_test)
 
-# Register the test with CTest
-add_test(NAME sampleTest COMMAND sampleTest)
+# add more components later (sensors, control, etc.)

motors/README.md

@@ -1,2 +1,88 @@
-# Motor Control
-Submodule of McMaster exoskeleton interfacing and controlling suit motors
+# MotorAPI – High-Level Modbus RTU Motor Control
+
+This C++ library provides a high-level interface to control motors via Modbus RTU using [`libmodbus`](https://libmodbus.org/). It abstracts low-level register operations into simple function calls like `setSpeed()`, `setTorque()`, and `getActualPosition()`.
+
+## Features
+
+- Connects to motor over Modbus RTU via serial
+- Set motor torque, velocity, and position
+- Read actual motor torque, velocity, and position
+- Set operation modes (position, velocity, torque)
+- Includes safety checks and debug logging
+- GTest-compatible for unit testing #TODO
+
+## Dependencies
+
+- [libmodbus](https://libmodbus.org/)
+- C++17 or later
+- GoogleTest (optional for testing)
+
+## Usage
+
+### Initialization
+
+<pre><code class="language-cpp">
+Motor motor("/dev/ttyUSB0", 1);
+if (!motor.initializeMotor()) {
+    std::cerr &lt;&lt; "Failed to connect to motor.\n";
+}
+</code></pre>
+
+### Set Operation Mode
+
+<pre><code class="language-cpp">
+motor.setOperationMode(PV_MODE);  // PV_MODE, PT_MODE, or PP_MODE
+</code></pre>
+
+### Control Commands
+
+<pre><code class="language-cpp">
+motor.setTargetVelocity(1000);     // in INC/s
+motor.setTorque(500);              // in ‰ (permille)
+motor.setPosition(100000);         // in INC
+</code></pre>
+
+### Read Feedback
+
+<pre><code class="language-cpp">
+int32_t pos = motor.getActualPosition();
+int32_t speed = motor.getActualVelocity();
+int16_t torque = motor.getActualTorque();
+</code></pre>
+
+### Cleanup
+
+<pre><code class="language-cpp">
+motor.stopMotor();
+motor.disconnectMotor();
+</code></pre>
+
+## Running Tests (Optional)
+
+If hardware is connected and available:
+
+```bash
+mkdir build && cd build
+cmake ..
+make
+./motor_api_test
+```
+
+## Notes
+
+- `setTorque()` enforces bounds between -3000‰ and +3000‰.
+- `setMaxTorque()` only allows values up to 3000‰.
+- All `read*()` functions return zero if a read fails, and error messages are printed to `stderr`.
+- The motor must be placed in the correct operation mode (`PP_MODE`, `PV_MODE`, `PT_MODE`) before calling `setPosition()`, `setTargetVelocity()`, or `setTorque()`.
+- This API assumes motors follow the Modbus RTU protocol and register map of the EZmotion PRS/SRS R2 series.
+- Always verify that your power supply voltage and current limits match the motor specifications.
+- Communication defaults:
+  - Baud rate: `115200`
+  - Parity: Even (`'E'`)
+  - Data bits: 8
+  - Stop bits: 1
+
+## Reference
+
+This API is designed based on the **PRS SRS R2 Series User Guide** documentation.  
+Refer to **Section 6: Register Table** in the official User Guide for detailed register definitions and explanations.