ethercat_hardware: ethercat_hardware: wg05.h Source File

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00034 
00035 #ifndef ETHERCAT_HARDWARE_WG05_H
00036 #define ETHERCAT_HARDWARE_WG05_H
00037 
00038 #include <ethercat_hardware/wg0x.h>
00039 
00043 class WG05 : public WG0X
00044 {
00045 public:
00046   void construct(EtherCAT_SlaveHandler *sh, int &start_address);
00047   int initialize(pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true);  
00048   void packCommand(unsigned char *buffer, bool halt, bool reset);  
00049   bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);
00050   enum
00051   {
00052     PRODUCT_CODE = 6805005
00053   };
00054 };
00055 
00056 
00057 #endif /* ETHERCAT_HARDWARE_WG05_H */