00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00024 #ifndef _SR_RONEX_SIMPLE_CONTROLLER_HPP_ 00025 #define _SR_RONEX_SIMPLE_CONTROLLER_HPP_ 00026 00027 #include <ros/node_handle.h> 00028 00029 #include <controller_interface/controller.h> 00030 #include <ros_ethercat_model/robot_state.hpp> 00031 #include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp> 00032 #include <realtime_tools/realtime_publisher.h> 00033 #include <sr_ronex_utilities/sr_ronex_utilities.hpp> 00034 00035 #include <std_msgs/Bool.h> 00036 #include <sr_ronex_msgs/PWM.h> 00037 00038 namespace ronex 00039 { 00040 class SrRoNeXSimpleController 00041 : public controller_interface::Controller<ros_ethercat_model::RobotState> 00042 { 00043 public: 00044 SrRoNeXSimpleController(); 00045 virtual ~SrRoNeXSimpleController(); 00046 00047 virtual bool init(ros_ethercat_model::RobotState* robot, ros::NodeHandle &n); 00048 00049 virtual void starting(const ros::Time&); 00050 00051 virtual void update(const ros::Time&, const ros::Duration&); 00052 00053 virtual void stopping(const ros::Time&); 00054 00055 private: 00056 int loop_count_; 00057 00058 ronex::GeneralIO* general_io_; 00059 }; 00060 } 00061 00062 #endif /* _SR_RONEX_SIMPLE_CONTROLLER_HPP_ */