Here is a list of all files with brief descriptions:
| comms.cpp | Implementation of Comms class methods to handle reading and writing to the UM7 serial interface |
| comms.h | Comms class definition. Does not manage the serial connection itself, but takes care of reading and writing to UM7 |
| firmware_registers.h | Copied directly from the UM7 version of the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14 Note: while while the source of this code is named "UM6_config.h", it is not the same as the file used for the UM6 and is part of the UM7 source code |
| main.cpp | Main entry point for UM7 driver. Handles serial connection details, as well as all ROS message stuffing, parameters, topics, etc |
| registers.cpp | Stub method from the Accessor class |
| registers.h | Provides the Registers class, which initializes with a suite of accessors suitable for reading and writing the UM7 registers, including byte-order conversion and scaling handled |
| test_comms.cpp | |
| test_registers.cpp | |