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 00025 #ifndef _ADC16_HARDWARE_INTERFACE_H_ 00026 #define _ADC16_HARDWARE_INTERFACE_H_ 00027 00028 #include <ros_ethercat_model/hardware_interface.hpp> 00029 #include <sr_ronex_external_protocol/Ronex_Protocol_0x02000008_ADC16_00.h> 00030 #include <vector> 00031 00032 namespace ronex 00033 { 00034 class ADC16Command 00035 { 00036 public: 00037 std::vector<bool> digital_; 00038 uint16_t address_; 00039 std::vector<uint16_t> values_; 00040 uint16_t command_type_; 00041 }; 00042 00043 class ADC16State 00044 { 00045 public: 00046 std::vector<bool> digital_; 00047 std::vector<uint16_t> analogue_; 00048 std::vector<uint16_t> adc_; 00049 uint16_t address_; 00050 std::vector<uint16_t> values_; 00051 uint16_t command_type_; 00052 }; 00053 00064 class ADC16 00065 : public ros_ethercat_model::CustomHW 00066 { 00067 public: 00068 ADC16State state_; 00069 ADC16Command command_; 00070 }; 00071 } // namespace ronex 00072 /* For the emacs weenies in the crowd. 00073 Local Variables: 00074 c-basic-offset: 2 00075 End: 00076 */ 00077 00078 #endif /* _ADC16_HARDWARE_INTERFACE_H_ */