ioadr.cc File Reference

NCD IOADR8x multipurpose I/O board driver. More...

#include <ros/ros.h>
#include <art_msgs/ArtHertz.h>
#include <art/conversions.h>
#include <art_msgs/Shifter.h>
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "std_msgs/Header.h"
#include "dev8x.h"
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Go to the source code of this file.

Classes

class  IOadr
struct  IOadr::poll_parms_t

Functions

IOadr::poll_parms_tLookupInput (const char *name)
int main (int argc, char **argv)

Variables

static IOadr::poll_parms_t poll_parms_table []
static const uint8_t relay_value_ [5] = {0x00, 0x02, 0x04, 0x08, 0x10}

Detailed Description

NCD IOADR8x multipurpose I/O board driver.

This driver provides an interface to a National Control Devices IOADR8x hybrid relay and A/D controller board. This hybrid device provides eight relays and five analog to digital converters. The driver publishes their current values and handles commands to set the relays.

Our vehicle currently has two IOADR8x boards. Each is controlled by a separate ROS node. The node name determines the input and output messages:

Commands

Sets the state of a relay. The "id" is a bit number (0 to 7) for the relay. If the "voltage" is close to 0.0, the corresponding relay will be set off, otherwise it is set on.

ROS Parameters
Author:
Jack O'Quin

Definition in file ioadr.cc.


Function Documentation

IOadr::poll_parms_t* LookupInput ( const char *  name  ) 

Definition at line 133 of file ioadr.cc.

int main ( int  argc,
char **  argv 
)

Definition at line 442 of file ioadr.cc.


Variable Documentation

Initial value:
{
  
  {"AnalogA",        &IOadr::poll_Analog_8bit,   3,      0},
  {"AnalogA(10bit)", &IOadr::poll_Analog_10bit,  3,      0},
  {"AnalogB",        &IOadr::poll_Analog_8bit,   4,      1},
  {"AnalogB(10bit)", &IOadr::poll_Analog_10bit,  4,      1},
  {"AnalogC",        &IOadr::poll_Analog_8bit,   5,      2},
  {"AnalogC(10bit)", &IOadr::poll_Analog_10bit,  5,      2},
  {"DigitalB",       &IOadr::poll_Digital,       1,     -1},
  {"ShifterInd",     &IOadr::poll_ShifterInd,    1,     -1},
  {"",               NULL,                      -1,     -1},
  {NULL,             NULL,                      -1,     -1},
}

Definition at line 118 of file ioadr.cc.

const uint8_t relay_value_[5] = {0x00, 0x02, 0x04, 0x08, 0x10} [static]

Definition at line 146 of file ioadr.cc.

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art_servo
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Jan 11 09:59:59 2013