WG06 Class Reference

#include <wg0x.h>

Inheritance diagram for WG06:

Public Types
enum	{ PRODUCT_CODE = 6805006 }
Public Member Functions
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)
	WG06 ()
	~WG06 ()
Private Attributes
realtime_tools::RealtimePublisher < pr2_msgs::AccelerometerState > *	accel_publisher_
pr2_hardware_interface::Accelerometer	accelerometer_
unsigned	accelerometer_missed_samples_
	Total of accelerometer samples that were missed.
unsigned	accelerometer_samples_
	Number of accelerometer samples since last publish cycle.
bool	first_publish_
uint32_t	last_pressure_time_
ros::Time	last_publish_time_
	Time diagnostics was last published.
bool	pressure_checksum_error_
	Set true where checksum error on pressure data is detected, cleared on reset.
realtime_tools::RealtimePublisher < pr2_msgs::PressureState > *	pressure_publisher_
pr2_hardware_interface::PressureSensor	pressure_sensors_ [2]

Detailed Description

Definition at line 673 of file wg0x.h.

anonymous enum

Enumerator:

PRODUCT_CODE

Definition at line 682 of file wg0x.h.

WG06::WG06 ( )

Definition at line 230 of file wg0x.cpp.

WG06::~WG06 ( )

Definition at line 242 of file wg0x.cpp.

void WG06::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 2613 of file wg0x.cpp.

int WG06::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)			`[virtual]`

Reimplemented from WG0X.

Definition at line 389 of file wg0x.cpp.

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 781 of file wg0x.cpp.