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WG021 Class Reference

#include <wg021.h>

Inheritance diagram for WG021:
Inheritance graph
[legend]

List of all members.

Public Types

enum  { PRODUCT_CODE = 6805021 }
enum  {
  PROJECTOR_CONFIG_ENABLE = 8, PROJECTOR_CONFIG_ENABLE_ENABLED = 8, PROJECTOR_CONFIG_ENABLE_DISABLED = 0, PROJECTOR_CONFIG_ACTION = 4,
  PROJECTOR_CONFIG_ACTION_ON = 4, PROJECTOR_CONFIG_ACTION_OFF = 0, PROJECTOR_CONFIG_POLARITY = 2, PROJECTOR_CONFIG_POLARITY_ACTIVE_HIGH = 2,
  PROJECTOR_CONFIG_POLARITY_ACTIVE_LOW = 0, PROJECTOR_CONFIG_STATE = 1, PROJECTOR_CONFIG_STATE_HIGH = 1, PROJECTOR_CONFIG_STATE_LOW = 0
}

Public Member Functions

void construct (EtherCAT_SlaveHandler *sh, int &start_address)
 < Construct EtherCAT device
void diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
 For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
int initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true)
void packCommand (unsigned char *buffer, bool halt, bool reset)
bool unpackState (unsigned char *this_buffer, unsigned char *prev_buffer)
 WG021 ()

Private Attributes

pr2_hardware_interface::DigitalOut digital_out_A_
pr2_hardware_interface::DigitalOut digital_out_B_
pr2_hardware_interface::DigitalOut digital_out_I_
pr2_hardware_interface::DigitalOut digital_out_L0_
pr2_hardware_interface::DigitalOut digital_out_L1_
pr2_hardware_interface::DigitalOut digital_out_M_
pr2_hardware_interface::Projector projector_

Detailed Description

Definition at line 85 of file wg021.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
PRODUCT_CODE 

Definition at line 94 of file wg021.h.

anonymous enum
Enumerator:
PROJECTOR_CONFIG_ENABLE 
PROJECTOR_CONFIG_ENABLE_ENABLED 
PROJECTOR_CONFIG_ENABLE_DISABLED 
PROJECTOR_CONFIG_ACTION 
PROJECTOR_CONFIG_ACTION_ON 
PROJECTOR_CONFIG_ACTION_OFF 
PROJECTOR_CONFIG_POLARITY 
PROJECTOR_CONFIG_POLARITY_ACTIVE_HIGH 
PROJECTOR_CONFIG_POLARITY_ACTIVE_LOW 
PROJECTOR_CONFIG_STATE 
PROJECTOR_CONFIG_STATE_HIGH 
PROJECTOR_CONFIG_STATE_LOW 

Definition at line 98 of file wg021.h.


Constructor & Destructor Documentation

WG021::WG021 (  )  [inline]

Definition at line 88 of file wg021.h.


Member Function Documentation

void WG021::construct ( EtherCAT_SlaveHandler *  sh,
int &  start_address 
) [virtual]

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from WG0X.

Definition at line 52 of file wg021.cpp.

void WG021::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper d,
unsigned char *  buffer 
) [virtual]

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:
d Diagnostics status wrapper.
buffer Pointer to slave process data.

Reimplemented from WG0X.

Definition at line 240 of file wg021.cpp.

int WG021::initialize ( pr2_hardware_interface::HardwareInterface hw,
bool  allow_unprogrammed = true 
) [virtual]

Reimplemented from WG0X.

Definition at line 113 of file wg021.cpp.

void WG021::packCommand ( unsigned char *  buffer,
bool  halt,
bool  reset 
) [virtual]
Parameters:
reset when asserted this will clear diagnostic error conditions device safety disable
halt while asserted will disable actuator, usually by disabling H-bridge

Reimplemented from WG0X.

Definition at line 158 of file wg021.cpp.

bool WG021::unpackState ( unsigned char *  this_buffer,
unsigned char *  prev_buffer 
) [virtual]

Reimplemented from WG0X.

Definition at line 187 of file wg021.cpp.


Member Data Documentation

Definition at line 117 of file wg021.h.

Definition at line 118 of file wg021.h.

Definition at line 119 of file wg021.h.

Definition at line 121 of file wg021.h.

Definition at line 122 of file wg021.h.

Definition at line 120 of file wg021.h.

Definition at line 123 of file wg021.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Fri Mar 1 16:52:17 2013