command_to_pwm.hpp

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/*
 * Copyright (c) 2013, Shadow Robot Company, All rights reserved.
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3.0 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library.
 */

#ifndef SR_RONEX_GENERAL_IO_COMMAND_TO_PWM_H_
#define SR_RONEX_GENERAL_IO_COMMAND_TO_PWM_H_

#include <sr_ronex_hardware_interface/mk2_gio_hardware_interface.hpp>
#include "sr_ronex_transmissions/mapping/ronex_mapping.hpp"

namespace ronex
{
  namespace mapping
  {
    namespace general_io
    {
      class CommandToPWM
        : public RonexMapping
      {
      public:
        CommandToPWM(TiXmlElement* mapping_el, ros_ethercat_model::RobotState* robot);

        virtual void propagateFromRonex(ros_ethercat_model::JointState *js) {};

        virtual void propagateToRonex(ros_ethercat_model::JointState *js);

      protected:
        GeneralIO* general_io_;
        size_t pwm_module_, pwm_pin_index_;
        size_t digital_pin_index_;
        bool pin_out_of_bound_;

        unsigned long int ideal_period_;
        unsigned short int clock_divider_, actual_period_, on_time_;

        bool check_pins_in_bound_();

        virtual bool try_init_cb_(const ros::TimerEvent&, TiXmlElement* mapping_el, ros_ethercat_model::RobotState* robot, const char* ronex_name);
      };
    }
  }
}

/* For the emacs weenies in the crowd.
   Local Variables:
   c-basic-offset: 2
   End:
*/

#endif  /* SR_RONEX_GENERAL_IO_COMMAND_TO_PWM_H_ */