WG05 Class Reference

EtherCAT driver for WG005 motor controller. More...

#include <wg05.h>

Inheritance diagram for WG05:

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:

reset	when asserted this will clear diagnostic error conditions device safety disable
halt	while 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:

• wg05.h
• wg05.cpp