ek1122.h

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#ifndef EK1122_H
#define EK1122_H

#include <ethercat_hardware/ethercat_device.h>

class EK1122 : public EthercatDevice
{
public:
  void construct(EtherCAT_SlaveHandler *sh, int &start_address);
  ~EK1122();
  int initialize(pr2_hardware_interface::HardwareInterface *, bool);
  void diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *);

  enum {PRODUCT_CODE = 0x4622c52};

};

#endif /* EK1122_H */