sr0x.h

Go to the documentation of this file.

#ifndef SR_EDC_ETHERCAT_DRIVERS_SR0X_H
#define SR_EDC_ETHERCAT_DRIVERS_SR0X_H

#include <ros_ethercat_hardware/ethercat_hardware.h>
#include <sr_edc_ethercat_drivers/motor_trace_buffer.h>
#include <string>

class SR0X :
        public EthercatDevice
{
public:
  virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed = true);

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

  enum
  {
    MODE_OFF = 0x00,
    MODE_ENABLE = (1 << 0),
    MODE_CURRENT = (1 << 1),
    MODE_SAFETY_RESET = (1 << 4),
    MODE_SAFETY_LOCKOUT = (1 << 5),
    MODE_UNDERVOLTAGE = (1 << 6),
    MODE_RESET = (1 << 7)
  };

  enum
  {
    EC_PRODUCT_ID_BRIDGE = 0,
    EC_PRODUCT_ID_SHADOWCAN = 2,
    EC_PRODUCT_ID_DUALMOTOR = 3,
  };

  string reason_;
  int level_;
  int device_offset_;     // !< Offset of device position from first device of Shadow Hand

protected:
  int command_base_;
  int status_base_;
};

#endif  // SR_EDC_ETHERCAT_DRIVERS_SR0X_H