SchunkPowerBallNode.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef SCHUNKPOWERBALLNODE_H
#define SCHUNKPOWERBALLNODE_H

#include "DS402Node.h"

namespace icl_hardware {
namespace canopen_schunk {

  class SchunkPowerBallNode : public DS402Node
{
public:
  typedef boost::shared_ptr<SchunkPowerBallNode> Ptr;
  typedef boost::shared_ptr<const SchunkPowerBallNode> ConstPtr;

  static const double RAD_TO_STEPS_FACTOR = 57295.7795131;

  SchunkPowerBallNode(const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr& can_device, HeartBeatMonitor::Ptr heartbeat_monitor);

  void commutationSearch();

  virtual void configureHomingMethod (const uint8_t homing_method);

  virtual void configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed = 0);

  virtual void initNode ();

  virtual void setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping);

protected:
  virtual void configureInterpolationData (const uint8_t buffer_organization = 0,
                                           const int16_t interpolation_type = 0,
                                           const uint8_t size_of_data_record = 4);

private:
  bool CommutationCalibrated ();
};

}} // end of NS
#endif // SCHUNKPOWERBALLNODE_H