wg014.h

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#ifndef WG014_H
#define WG014_H

#include <ethercat_hardware/ethercat_device.h>

class WG014 : public EthercatDevice
{
public:
  void construct(EtherCAT_SlaveHandler *sh, int &start_address);
  ~WG014();
  int initialize(pr2_hardware_interface::HardwareInterface *, bool);
  void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *);

  enum {PRODUCT_CODE = 6805014};

protected:
  uint8_t fw_major_;
  uint8_t fw_minor_;
  uint8_t board_major_;
  uint8_t board_minor_;
};

#endif /* WG014_H */