wg05.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2008, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 #ifndef ETHERCAT_HARDWARE_WG05_H
36 #define ETHERCAT_HARDWARE_WG05_H
37 
38 #include <ethercat_hardware/wg0x.h>
39 
43 class WG05 : public WG0X
44 {
45 public:
46  void construct(EtherCAT_SlaveHandler *sh, int &start_address);
47  int initialize(pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true);
48  void packCommand(unsigned char *buffer, bool halt, bool reset);
49  bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);
50  enum
51  {
52  PRODUCT_CODE = 6805005
53  };
54 };
55 
56 
57 #endif /* ETHERCAT_HARDWARE_WG05_H */
EtherCAT driver for WG005 motor controller.
Definition: wg05.h:43
void packCommand(unsigned char *buffer, bool halt, bool reset)
Definition: wg05.cpp:147
bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer)
Definition: wg05.cpp:152
int initialize(pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true)
Definition: wg05.cpp:115
Definition: wg0x.h:234
void construct(EtherCAT_SlaveHandler *sh, int &start_address)
< Construct EtherCAT device
Definition: wg05.cpp:52


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Tue Mar 28 2023 02:10:20