#include <ethercat_hardware/wg0x.h>
#include <ethercat_hardware/wg_soft_processor.h>
#include <pr2_msgs/PressureState.h>
#include <pr2_msgs/AccelerometerState.h>
#include <ethercat_hardware/RawFTData.h>
#include <geometry_msgs/WrenchStamped.h>

Include dependency graph for wg06.h:

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Go to the source code of this file.

Classes
struct	FTDataSample

class	FTParamsInternal

class	WG06

struct	WG06BigPressure

struct	WG06Pressure

struct	WG06StatusWithAccel

struct	WG06StatusWithAccelAndFT

Functions
struct WG06StatusWithAccel	__attribute__ ((__packed__))

Variables
class FTParamsInternal	__attribute__

uint32_t	accel_ [4]

uint8_t	accel_count_

uint16_t	board_temperature_

uint16_t	bridge_temperature_

uint8_t	checksum_

int16_t	data_ [6]

uint8_t	digital_out_

int32_t	encoder_count_

int32_t	encoder_index_pos_

uint8_t	encoder_status_

uint8_t	ft_sample_count_

FTDataSample	ft_samples_ [4]

uint16_t	l_finger_tip_ [22]

int16_t	measured_current_

uint8_t	mode_

int16_t	motor_voltage_

uint16_t	num_encoder_errors_

uint16_t	packet_count_

uint8_t	pad_

WG06Pressure	pressure_

int16_t	programmed_current_

int16_t	programmed_pwm_value_

uint16_t	r_finger_tip_ [22]

uint8_t	sample_count_

static const unsigned	SIZE =61

uint16_t	supply_voltage_

uint32_t	timestamp_

uint8_t	unused1

int32_t	unused2

int32_t	unused3

uint8_t	unused4 [3]

uint16_t	vhalf_

Function Documentation

◆ attribute()

struct WG06StatusWithAccel __attribute__ ( (__packed__) )

Variable Documentation

◆ attribute

WG06 __attribute__

◆ accel_

uint32_t accel_

Definition at line 54 of file wg06.h.

◆ accel_count_

uint8_t accel_count_

Definition at line 53 of file wg06.h.

◆ board_temperature_

uint16_t board_temperature_

Definition at line 47 of file wg06.h.

◆ bridge_temperature_

uint16_t bridge_temperature_

Definition at line 48 of file wg06.h.

◆ checksum_

uint8_t checksum_

Definition at line 55 of file wg06.h.

◆ data_

int16_t data_[6]

Definition at line 2 of file wg06.h.

◆ digital_out_

uint8_t digital_out_

Definition at line 35 of file wg06.h.

◆ encoder_count_

int32_t encoder_count_

Definition at line 40 of file wg06.h.

◆ encoder_index_pos_

int32_t encoder_index_pos_

Definition at line 41 of file wg06.h.

◆ encoder_status_

uint8_t encoder_status_

Definition at line 43 of file wg06.h.

◆ ft_sample_count_

uint8_t ft_sample_count_

Definition at line 24 of file wg06.h.

◆ ft_samples_

FTDataSample ft_samples_[4]

Definition at line 25 of file wg06.h.

◆ l_finger_tip_

uint16_t l_finger_tip_[22]

Definition at line 3 of file wg06.h.

◆ measured_current_

int16_t measured_current_

Definition at line 38 of file wg06.h.

◆ mode_

uint8_t mode_

Definition at line 34 of file wg06.h.

◆ motor_voltage_

int16_t motor_voltage_

Definition at line 50 of file wg06.h.

◆ num_encoder_errors_

uint16_t num_encoder_errors_

Definition at line 42 of file wg06.h.

◆ packet_count_

uint16_t packet_count_

Definition at line 51 of file wg06.h.

◆ pad_

uint8_t pad_[418]

Definition at line 52 of file wg06.h.

◆ pressure_

WG06Pressure pressure_

Definition at line 2 of file wg06.h.

◆ programmed_current_

int16_t programmed_current_

Definition at line 37 of file wg06.h.

◆ programmed_pwm_value_

int16_t programmed_pwm_value_

Definition at line 36 of file wg06.h.

◆ r_finger_tip_

uint16_t r_finger_tip_[22]

Definition at line 4 of file wg06.h.

◆ sample_count_

uint8_t sample_count_

Definition at line 4 of file wg06.h.

◆ SIZE

static const unsigned SIZE =61

static

Definition at line 57 of file wg06.h.

◆ supply_voltage_

uint16_t supply_voltage_

Definition at line 49 of file wg06.h.

◆ timestamp_

uint32_t timestamp_

Definition at line 39 of file wg06.h.

◆ unused1

uint8_t unused1

Definition at line 44 of file wg06.h.

◆ unused2

int32_t unused2

Definition at line 45 of file wg06.h.

◆ unused3

int32_t unused3

Definition at line 46 of file wg06.h.

◆ unused4

uint8_t unused4[3]

Definition at line 23 of file wg06.h.

◆ vhalf_

uint16_t vhalf_