Public Types | Public Member Functions
WG05 Class Reference

EtherCAT driver for WG005 motor controller. More...

#include <wg05.h>

Inheritance diagram for WG05:
Inheritance graph
[legend]

List of all members.

Public Types

enum  { PRODUCT_CODE = 6805005 }

Public Member Functions

void construct (EtherCAT_SlaveHandler *sh, int &start_address)
 < Construct EtherCAT device
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)

Detailed Description

EtherCAT driver for WG005 motor controller.

Definition at line 43 of file wg05.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
PRODUCT_CODE 

Definition at line 50 of file wg05.h.


Member Function Documentation

void WG05::construct ( EtherCAT_SlaveHandler *  sh,
int &  start_address 
) [virtual]

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from WG0X.

Definition at line 53 of file wg05.cpp.

int WG05::initialize ( pr2_hardware_interface::HardwareInterface hw,
bool  allow_unprogrammed = true 
) [virtual]

Reimplemented from WG0X.

Definition at line 116 of file wg05.cpp.

void WG05::packCommand ( unsigned char *  buffer,
bool  halt,
bool  reset 
) [virtual]
Parameters:
resetwhen asserted this will clear diagnostic error conditions device safety disable
haltwhile asserted will disable actuator, usually by disabling H-bridge

Reimplemented from WG0X.

Definition at line 148 of file wg05.cpp.

bool WG05::unpackState ( unsigned char *  this_buffer,
unsigned char *  prev_buffer 
) [virtual]

Reimplemented from WG0X.

Definition at line 153 of file wg05.cpp.


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


ethercat_hardware
Author(s): Rob Wheeler (email: wheeler@willowgarage.com), Maintained by Derek King (email: dking@willowgarage.com)
autogenerated on Thu Apr 24 2014 15:43:45