cob_elmo_homing::ElmoMotor402 Class Reference

Inheritance diagram for cob_elmo_homing::ElmoMotor402:

Classes
class	Allocator

Public Member Functions
	ElmoMotor402 (const std::string &name, canopen::ObjectStorageSharedPtr storage, const canopen::Settings &settings)
void	handleInit (canopen::LayerStatus &status)
Public Member Functions inherited from canopen::Motor402
virtual bool	enterModeAndWait (uint16_t mode)
virtual uint16_t	getMode ()
virtual bool	isModeSupported (uint16_t mode)
	Motor402 (const std::string &name, ObjectStorageSharedPtr storage, const canopen::Settings &settings)
virtual void	registerDefaultModes (ObjectStorageSharedPtr storage)
bool	registerMode (uint16_t mode, const T1 &t1)
bool	registerMode (uint16_t mode, const T1 &t1, const T2 &t2)
bool	registerMode (uint16_t mode)
virtual bool	setTarget (double val)
Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)
LayerState	getLayerState ()
void	halt (LayerStatus &status)
void	init (LayerStatus &status)
	Layer (const std::string &n)
void	read (LayerStatus &status)
void	recover (LayerStatus &status)
void	shutdown (LayerStatus &status)
void	write (LayerStatus &status)
virtual	~Layer ()

Private Member Functions
uint64_t	readResponse (uint64_t command)
bool	set (char c1, char c2, uint16_t index, uint32_t val)
template<typename T >
bool	test (char c1, char c2, uint16_t index, uint32_t val, T dur)

Private Attributes
canopen::ObjectStorage::Entry< uint64_t >	command_entry_
int32_t	event_
int32_t	offset_
canopen::ObjectStorage::Entry< uint64_t >	response_entry_
int32_t	speed_
uint32_t	timeout_

Static Private Attributes
static const uint64_t	byte_3_bit_6 = (1 << (3*8+6))
static const uint64_t	compare_mask = 0xFFFFFFFF ^ byte_3_bit_6

Additional Inherited Members
Public Types inherited from canopen::MotorBase
typedef boost::shared_ptr< MotorBase >	MotorBaseSharedPtr
enum	OperationMode
Public Types inherited from canopen::Layer
enum	LayerState
Public Attributes inherited from canopen::MotorBase
	Cyclic_Synchronous_Position
	Cyclic_Synchronous_Torque
	Cyclic_Synchronous_Velocity
	Homing
	Interpolated_Position
	No_Mode
	Profiled_Position
	Profiled_Torque
	Profiled_Velocity
	Reserved
	Velocity
Public Attributes inherited from canopen::Layer
	Error
	Halt
	Init
const std::string	name
	Off
	Ready
	Recover
	Shutdown
Protected Member Functions inherited from canopen::Motor402
virtual void	handleDiag (LayerReport &report)
virtual void	handleHalt (LayerStatus &status)
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)
virtual void	handleRecover (LayerStatus &status)
virtual void	handleShutdown (LayerStatus &status)
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)
Protected Member Functions inherited from canopen::MotorBase
	MotorBase (const std::string &name)

Detailed Description

Definition at line 25 of file plugin.cpp.

Constructor & Destructor Documentation

cob_elmo_homing::ElmoMotor402::ElmoMotor402 ( const std::string &  name, canopen::ObjectStorageSharedPtr  storage, const canopen::Settings &  settings  )

inline

Definition at line 71 of file plugin.cpp.

Member Function Documentation

void cob_elmo_homing::ElmoMotor402::handleInit ( canopen::LayerStatus &  status )

inlinevirtual

Reimplemented from canopen::Motor402.

Definition at line 82 of file plugin.cpp.

uint64_t cob_elmo_homing::ElmoMotor402::readResponse ( uint64_t  command )

inlineprivate

Definition at line 38 of file plugin.cpp.

bool cob_elmo_homing::ElmoMotor402::set ( char  c1, char  c2, uint16_t  index, uint32_t  val  )

inlineprivate

Definition at line 44 of file plugin.cpp.

template<typename T >

bool cob_elmo_homing::ElmoMotor402::test ( char  c1, char  c2, uint16_t  index, uint32_t  val, T  dur  )

inlineprivate

Definition at line 57 of file plugin.cpp.

Member Data Documentation

const uint64_t cob_elmo_homing::ElmoMotor402::byte_3_bit_6 = (1 << (3*8+6))

staticprivate

Definition at line 30 of file plugin.cpp.

canopen::ObjectStorage::Entry<uint64_t> cob_elmo_homing::ElmoMotor402::command_entry_

private

Definition at line 27 of file plugin.cpp.

const uint64_t cob_elmo_homing::ElmoMotor402::compare_mask = 0xFFFFFFFF ^ byte_3_bit_6

staticprivate

Definition at line 31 of file plugin.cpp.

int32_t cob_elmo_homing::ElmoMotor402::event_

private

Definition at line 34 of file plugin.cpp.

int32_t cob_elmo_homing::ElmoMotor402::offset_

private

Definition at line 33 of file plugin.cpp.

canopen::ObjectStorage::Entry<uint64_t> cob_elmo_homing::ElmoMotor402::response_entry_

private

Definition at line 28 of file plugin.cpp.

int32_t cob_elmo_homing::ElmoMotor402::speed_

private

Definition at line 35 of file plugin.cpp.

uint32_t cob_elmo_homing::ElmoMotor402::timeout_

private

Definition at line 36 of file plugin.cpp.

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The documentation for this class was generated from the following file:

• plugin.cpp