NCD IOADR8x multipurpose I/O board driver. More...
#include <ros/ros.h>#include <art_msgs/ArtHertz.h>#include <art/conversions.h>#include <art_msgs/Shifter.h>#include <art_msgs/IOadrCommand.h>#include <art_msgs/IOadrState.h>#include "dev8x.h"
Include dependency graph for ioadr.cc:
Go to the source code of this file.
Classes | |
| class | IOadr |
| struct | IOadr::poll_parms_t |
Functions | |
| IOadr::poll_parms_t * | LookupInput (const char *name) |
| int | main (int argc, char **argv) |
Variables | |
| static IOadr::poll_parms_t | poll_parms_table [] |
| static const uint8_t | relay_value_ [5] = {0x00, 0x02, 0x04, 0x08, 0x10} |
Detailed Description
NCD IOADR8x multipurpose I/O board driver.
This driver provides an interface to a National Control Devices IOADR8x hybrid relay and A/D controller board. This hybrid device provides eight relays and five analog to digital converters. The driver publishes their current values and handles commands to set the relays.
Our vehicle currently has two IOADR8x boards. Each is controlled by a separate ROS node. The node name determines the input and output messages:
- "ioadr" provides steering sensor voltage and relays to interface with the DARPA E-stop unit and the vehicle warning devices (flasher and audible alarm).
- "shifter" reads and sets the transmission control relays.
- Commands
- PLAYER_AIO_CMD_STATE
Sets the state of a relay. The "id" is a bit number (0 to 7) for the relay. If the "voltage" is close to 0.0, the corresponding relay will be set off, otherwise it is set on.
- ROS Parameters
- ~/port (string)
- tty port name for IOADR8x board
- default: "/dev/null"
Definition in file ioadr.cc.
Function Documentation
| IOadr::poll_parms_t* LookupInput | ( | const char * | name | ) |
Variable Documentation
IOadr::poll_parms_t poll_parms_table[] [static] |
Initial value:
{
{"AnalogA", &IOadr::poll_Analog_8bit, 3, 0},
{"AnalogA(10bit)", &IOadr::poll_Analog_10bit, 3, 0},
{"AnalogB", &IOadr::poll_Analog_8bit, 4, 1},
{"AnalogB(10bit)", &IOadr::poll_Analog_10bit, 4, 1},
{"AnalogC", &IOadr::poll_Analog_8bit, 5, 2},
{"AnalogC(10bit)", &IOadr::poll_Analog_10bit, 5, 2},
{"DigitalB", &IOadr::poll_Digital, 1, -1},
{"ShifterInd", &IOadr::poll_ShifterInd, 1, -1},
{"", NULL, -1, -1},
{NULL, NULL, -1, -1},
}
const uint8_t relay_value_[5] = {0x00, 0x02, 0x04, 0x08, 0x10} [static] |