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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H 00036 #define RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H 00037 00038 #include <stdint.h> 00039 00040 namespace riq_hand_ethercat_hardware 00041 { 00042 00043 00044 struct RIQActionRequest 00045 { 00046 union { 00047 uint8_t raw_; 00048 struct { 00049 uint8_t initialize_ : 1; 00050 uint8_t mode_ : 2; 00051 uint8_t grip_ : 2; 00052 uint8_t parital_open_ : 1; 00053 uint8_t partial_close_ : 1; 00054 uint8_t reserved : 1; 00055 } __attribute__ ((__packed__)); 00056 } __attribute__ ((__packed__)); 00057 00058 enum {CYLINDRICAL_MODE=0, PINCH_MODE=1, SPHERIOD_MODE=2, SCISSORS_MODE=3}; 00059 enum {GRIP_STOP=0, GRIP_OPEN=1, GRIP_CLOSE=2, GRIP_STOP_X=3}; 00060 enum {OPEN_MAX=0, OPEN_PARTIAL=1}; 00061 enum {CLOSE_MAX=0, CLOSE_PARTIAL=1}; 00062 00063 static const char* modeString(unsigned mode); 00064 static const char* gripString(unsigned grip); 00065 00066 const char* modeString() const {return modeString(mode_);} 00067 const char* gripString() const {return gripString(grip_);} 00068 00069 } __attribute__ ((__packed__)); 00070 00071 00072 struct RIQSafetyShutdown 00073 { 00074 union { 00075 uint8_t raw_; 00076 struct { 00077 uint8_t reserved_ : 4; 00078 uint8_t timeout_ : 4; 00079 } __attribute__ ((__packed__)); 00080 } __attribute__ ((__packed__)); 00081 00082 enum {SHUTDOWN_TIMEOUT_NONE=0, 00083 SHUTDOWN_TIMEOUT_20ms=1, 00084 SHUTDOWN_TIMEOUT_40ms=2, 00085 SHUTDOWN_TIMEOUT_80ms=3, 00086 SHUTDOWN_TIMEOUT_160ms=4, 00087 SHUTDOWN_TIMEOUT_320ms=5, 00088 SHUTDOWN_TIMEOUT_640ms=6, 00089 SHUTDOWN_TIMEOUT_1280ms=7, 00090 SHUTDOWN_TIMEOUT_2560ms=8, 00091 SHUTDOWN_TIMEOUT_5120ms=9, 00092 SHUTDOWN_TIMEOUT_10240ms=10}; 00093 } __attribute__ ((__packed__)); 00094 00095 00096 00097 struct RIQHandCommandEcat 00098 { 00099 RIQActionRequest action_request_; 00100 RIQSafetyShutdown safety_shutdown_; 00101 uint8_t velocity_; 00102 uint8_t force_; 00103 uint8_t partial_open_; 00104 uint8_t partial_close_; 00105 uint8_t empty_[6]; 00106 00107 void zero(); 00108 } __attribute__ ((__packed__)); 00109 00110 00111 00112 }; //namespace riq_hand_ethercat_hardware 00113 00114 00115 #endif /* RIQ_HAND_ETHERCAT_HARDWARE__RIQ_HAND_COMMAND_H */