Class Cia402Driver

Inheritance Relationships

Base Type

  • public ros2_canopen::CanopenDriver

Class Documentation

class Cia402Driver : public ros2_canopen::CanopenDriver

Abstract Class for a CANopen Device Node.

This class provides the base functionality for creating a CANopen device node. It provides callbacks for nmt and rpdo.

Public Functions

Cia402Driver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())
inline virtual bool reset_node_nmt_command()
inline virtual bool start_node_nmt_command()
inline virtual bool tpdo_transmit(ros2_canopen::COData &data)
inline virtual bool sdo_write(ros2_canopen::COData &data)
inline virtual bool sdo_read(ros2_canopen::COData &data)
inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)
inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)
inline double get_speed()
inline double get_position()
inline bool set_target(double target)
inline bool init_motor()
inline bool recover_motor()
inline bool halt_motor()
inline bool set_mode_position()
inline bool set_mode_velocity()
inline bool set_mode_cyclic_position()
inline bool set_mode_cyclic_velocity()
inline bool set_mode_torque()
inline bool set_mode_cyclic_torque()
inline bool set_mode_interpolated_position()
inline uint16_t get_mode()
inline bool set_operation_mode(uint16_t mode)