Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
SR0X Class Reference

#include <sr0x.h>

Inheritance diagram for SR0X:
Inheritance graph
[legend]

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_

Detailed Description

Definition at line 34 of file sr0x.h.


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.


Constructor & Destructor Documentation

Definition at line 42 of file sr0x.cpp.

SR0X::~SR0X ( ) [virtual]

Definition at line 46 of file sr0x.cpp.


Member Function Documentation

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

Reimplemented from EthercatDevice.

Reimplemented in SrEdc, SR06, SR08, SrEdcMuscle, 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 SrEdc, SR06, SR08, SrEdcMuscle, 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.


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.


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


sr_edc_ethercat_drivers
Author(s): Yann Sionneau, Ugo Cupcic / ugo@shadowrobot.com, software@shadowrobot.com
autogenerated on Mon Oct 6 2014 07:38:25