ethercat_hardware: ethercat_hardware: wg014.h Source File

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00034 
00035 #ifndef WG014_H
00036 #define WG014_H
00037 
00038 #include <ethercat_hardware/ethercat_device.h>
00039 
00040 class WG014 : public EthercatDevice
00041 {
00042 public:
00043   void construct(EtherCAT_SlaveHandler *sh, int &start_address);
00044   ~WG014();
00045   int initialize(pr2_hardware_interface::HardwareInterface *, bool);
00046   void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *);
00047 
00048   enum {PRODUCT_CODE = 6805014};
00049 
00050 protected:
00051   uint8_t fw_major_;
00052   uint8_t fw_minor_;
00053   uint8_t board_major_;
00054   uint8_t board_minor_;
00055 };
00056 
00057 #endif /* WG014_H */