canopen::ProfiledPositionMode Class Reference

#include <motor.h>

Inheritance diagram for canopen::ProfiledPositionMode:

Public Types
enum	CW_bits { CW_NewPoint = Command402::CW_Operation_mode_specific0, CW_Immediate = Command402::CW_Operation_mode_specific1, CW_Blending = Command402::CW_Operation_mode_specific3 }
enum	SW_masks { MASK_Reached = (1<<State402::SW_Target_reached), MASK_Acknowledged = (1<<State402::SW_Operation_mode_specific0), MASK_Error = (1<<State402::SW_Operation_mode_specific1) }
Public Types inherited from canopen::Mode
typedef WordAccessor<(1<< Command402::CW_Operation_mode_specific0)|(1<< Command402::CW_Operation_mode_specific1)|(1<< Command402::CW_Operation_mode_specific2)|(1<< Command402::CW_Operation_mode_specific3)>	OpModeAccesser

Public Member Functions
	ProfiledPositionMode (ObjectStorageSharedPtr storage)
virtual bool	read (const uint16_t &sw)
virtual bool	start ()
virtual bool	write (OpModeAccesser &cw)
Public Member Functions inherited from canopen::ModeTargetHelper< int32_t >
int32_t	getTarget ()
bool	hasTarget ()
	ModeTargetHelper (uint16_t mode)
virtual bool	setTarget (const double &val)
Public Member Functions inherited from canopen::Mode
	Mode (uint16_t id)
virtual	~Mode ()

Private Attributes
double	last_target_
uint16_t	sw_
canopen::ObjectStorage::Entry< int32_t >	target_position_

Additional Inherited Members
Public Attributes inherited from canopen::Mode
const uint16_t	mode_id_

Detailed Description

Definition at line 211 of file motor.h.

Member Enumeration Documentation

enum canopen::ProfiledPositionMode::CW_bits

Enumerator
CW_NewPoint
CW_Immediate
CW_Blending

Definition at line 221 of file motor.h.

enum canopen::ProfiledPositionMode::SW_masks

Enumerator
MASK_Reached
MASK_Acknowledged
MASK_Error

Definition at line 216 of file motor.h.

Constructor & Destructor Documentation

canopen::ProfiledPositionMode::ProfiledPositionMode ( ObjectStorageSharedPtr  storage )

inline

Definition at line 226 of file motor.h.

Member Function Documentation

virtual bool canopen::ProfiledPositionMode::read ( const uint16_t &  sw )

inlinevirtual

Implements canopen::Mode.

Definition at line 230 of file motor.h.

virtual bool canopen::ProfiledPositionMode::start ( )

inlinevirtual

Reimplemented from canopen::ModeTargetHelper< int32_t >.

Definition at line 229 of file motor.h.

virtual bool canopen::ProfiledPositionMode::write ( OpModeAccesser &  cw )

inlinevirtual

Implements canopen::Mode.

Definition at line 231 of file motor.h.

Member Data Documentation

double canopen::ProfiledPositionMode::last_target_

private

Definition at line 213 of file motor.h.

uint16_t canopen::ProfiledPositionMode::sw_

private

Definition at line 214 of file motor.h.

canopen::ObjectStorage::Entry<int32_t> canopen::ProfiledPositionMode::target_position_

private

Definition at line 212 of file motor.h.

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

• motor.h