WG021 Class Reference

#include <wg0x.h>

Inheritance diagram for WG021:

[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)
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 702 of file wg0x.h.

---

Member Enumeration Documentation

anonymous enum

Enumerator:

PRODUCT_CODE

Definition at line 711 of file wg0x.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 715 of file wg0x.h.

---

Constructor & Destructor Documentation

WG021::WG021

(

)

[inline]

Definition at line 705 of file wg0x.h.

---

Member Function Documentation

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

Reimplemented from WG0X.

Definition at line 706 of file wg0x.h.

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 2666 of file wg0x.cpp.

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

Reimplemented from WG0X.

Definition at line 452 of file wg0x.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 811 of file wg0x.cpp.

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

Reimplemented from WG0X.

Definition at line 1187 of file wg0x.cpp.

---

Member Data Documentation

pr2_hardware_interface::DigitalOut WG021::digital_out_A_ [private]

Definition at line 734 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG021::digital_out_B_ [private]

Definition at line 735 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG021::digital_out_I_ [private]

Definition at line 736 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG021::digital_out_L0_ [private]

Definition at line 738 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG021::digital_out_L1_ [private]

Definition at line 739 of file wg0x.h.

pr2_hardware_interface::DigitalOut WG021::digital_out_M_ [private]

Definition at line 737 of file wg0x.h.

pr2_hardware_interface::Projector WG021::projector_ [private]

Definition at line 740 of file wg0x.h.

---

The documentation for this class was generated from the following files:

• wg0x.h
• wg0x.cpp