SR0X Class Reference

#include <sr0x.h>

Inheritance diagram for SR0X:

List of all members.

Public Member Functions
virtual void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
virtual int	initialize (pr2_hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true)
	SR0X ()
virtual	~SR0X ()
Protected Types
enum	{   MODE_OFF = 0x00, MODE_ENABLE = (1 << 0), MODE_CURRENT = (1 << 1), MODE_SAFETY_RESET = (1 << 4),   MODE_SAFETY_LOCKOUT = (1 << 5), MODE_UNDERVOLTAGE = (1 << 6), MODE_RESET = (1 << 7) }
enum	{ EC_PRODUCT_ID_BRIDGE = 0, EC_PRODUCT_ID_SHADOWCAN = 2, EC_PRODUCT_ID_DUALMOTOR = 3 }
Protected Member Functions
int	readData (EthercatCom *com, EC_UINT address, void *data, EC_UINT length)
int	writeData (EthercatCom *com, EC_UINT address, void const *data, EC_UINT length)
Protected Attributes
uint8_t	board_major_
uint8_t	board_minor_
int	command_base_
int	device_offset_
	Offset of device position from first device of Shadow Hand.
uint8_t	fw_major_
uint8_t	fw_minor_
int	level_
string	reason_
int	status_base_

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Detailed Description

Definition at line 34 of file sr0x.h.

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Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

MODE_OFF
MODE_ENABLE
MODE_CURRENT
MODE_SAFETY_RESET
MODE_SAFETY_LOCKOUT
MODE_UNDERVOLTAGE
MODE_RESET

Definition at line 48 of file sr0x.h.

anonymous enum [protected]

Enumerator:

EC_PRODUCT_ID_BRIDGE
EC_PRODUCT_ID_SHADOWCAN
EC_PRODUCT_ID_DUALMOTOR

Definition at line 59 of file sr0x.h.

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Constructor & Destructor Documentation

SR0X::SR0X

(

)

Definition at line 42 of file sr0x.cpp.

SR0X::~SR0X

(

)

[virtual]

Definition at line 46 of file sr0x.cpp.

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Member Function Documentation

void SR0X::construct	(	EtherCAT_SlaveHandler *	sh,
		int &	start_address
	)		[virtual]

Reimplemented from EthercatDevice.

Reimplemented in SR06, and SRBridge.

Definition at line 52 of file sr0x.cpp.

int SR0X::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = true
	)		[virtual]

Implements EthercatDevice.

Reimplemented in SR06, and SRBridge.

Definition at line 57 of file sr0x.cpp.

int SR0X::readData	(	EthercatCom *	com,
		EC_UINT	address,
		void *	data,
		EC_UINT	length
	)		[protected]

Definition at line 71 of file sr0x.cpp.

int SR0X::writeData	(	EthercatCom *	com,
		EC_UINT	address,
		void const *	data,
		EC_UINT	length
	)		[protected]

Definition at line 77 of file sr0x.cpp.

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Member Data Documentation

uint8_t SR0X::board_major_ [protected]

Definition at line 45 of file sr0x.h.

uint8_t SR0X::board_minor_ [protected]

Definition at line 46 of file sr0x.h.

int SR0X::command_base_ [protected]

Definition at line 75 of file sr0x.h.

int SR0X::device_offset_ [protected]

Offset of device position from first device of Shadow Hand.

Definition at line 72 of file sr0x.h.

uint8_t SR0X::fw_major_ [protected]

Definition at line 43 of file sr0x.h.

uint8_t SR0X::fw_minor_ [protected]

Definition at line 44 of file sr0x.h.

int SR0X::level_ [protected]

Definition at line 67 of file sr0x.h.

string SR0X::reason_ [protected]

Definition at line 66 of file sr0x.h.

int SR0X::status_base_ [protected]

Definition at line 76 of file sr0x.h.

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

• sr0x.h
• sr0x.cpp