wg06.h File Reference

#include <ethercat_hardware/wg0x.h>
#include <ethercat_hardware/wg_soft_processor.h>
#include <pr2_msgs/PressureState.h>
#include <pr2_msgs/AccelerometerState.h>
#include <ethercat_hardware/RawFTData.h>
#include <geometry_msgs/WrenchStamped.h>

Include dependency graph for wg06.h:

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Classes
struct	FTDataSample
class	FTParamsInternal
class	WG06
struct	WG06BigPressure
struct	WG06Pressure
struct	WG06StatusWithAccel
struct	WG06StatusWithAccelAndFT

Functions
struct WG06StatusWithAccel	__attribute__ ((__packed__))

Variables
class FTParamsInternal	__attribute__
uint32_t	accel_ [4]
uint8_t	accel_count_
uint16_t	board_temperature_
uint16_t	bridge_temperature_
uint8_t	checksum_
int16_t	data_ [6]
uint8_t	digital_out_
int32_t	encoder_count_
int32_t	encoder_index_pos_
uint8_t	encoder_status_
uint8_t	ft_sample_count_
FTDataSample	ft_samples_ [4]
uint16_t	l_finger_tip_ [22]
int16_t	measured_current_
uint8_t	mode_
int16_t	motor_voltage_
uint16_t	num_encoder_errors_
uint16_t	packet_count_
uint8_t	pad_
WG06Pressure	pressure_
int16_t	programmed_current_
int16_t	programmed_pwm_value_
uint16_t	r_finger_tip_ [22]
uint8_t	sample_count_
static const unsigned	SIZE =61
uint16_t	supply_voltage_
uint32_t	timestamp_
uint8_t	unused1
int32_t	unused2
int32_t	unused3
uint8_t	unused4 [3]
uint16_t	vhalf_

Function Documentation

__attribute__()

struct WG06StatusWithAccel __attribute__

(

(__packed__)

)

Variable Documentation

__attribute__

WG06 __attribute__

accel_

uint32_t accel_

Definition at line 70 of file wg06.h.

accel_count_

uint8_t accel_count_

Definition at line 69 of file wg06.h.

board_temperature_

uint16_t board_temperature_

Definition at line 63 of file wg06.h.

bridge_temperature_

uint16_t bridge_temperature_

Definition at line 64 of file wg06.h.

checksum_

uint8_t checksum_

Definition at line 71 of file wg06.h.

data_

int16_t data_[6]

Definition at line 50 of file wg06.h.

digital_out_

uint8_t digital_out_

Definition at line 51 of file wg06.h.

encoder_count_

int32_t encoder_count_

Definition at line 56 of file wg06.h.

encoder_index_pos_

int32_t encoder_index_pos_

Definition at line 57 of file wg06.h.

encoder_status_

uint8_t encoder_status_

Definition at line 59 of file wg06.h.

ft_sample_count_

uint8_t ft_sample_count_

Definition at line 72 of file wg06.h.

ft_samples_

FTDataSample ft_samples_[4]

Definition at line 73 of file wg06.h.

l_finger_tip_

uint16_t l_finger_tip_[22]

Definition at line 51 of file wg06.h.

measured_current_

int16_t measured_current_

Definition at line 54 of file wg06.h.

mode_

uint8_t mode_

Definition at line 50 of file wg06.h.

motor_voltage_

int16_t motor_voltage_

Definition at line 66 of file wg06.h.

num_encoder_errors_

uint16_t num_encoder_errors_

Definition at line 58 of file wg06.h.

packet_count_

uint16_t packet_count_

Definition at line 67 of file wg06.h.

pad_

uint8_t pad_[418]

Definition at line 68 of file wg06.h.

pressure_

WG06Pressure pressure_

Definition at line 50 of file wg06.h.

programmed_current_

int16_t programmed_current_

Definition at line 53 of file wg06.h.

programmed_pwm_value_

int16_t programmed_pwm_value_

Definition at line 52 of file wg06.h.

r_finger_tip_

uint16_t r_finger_tip_[22]

Definition at line 52 of file wg06.h.

sample_count_

uint8_t sample_count_

Definition at line 52 of file wg06.h.

SIZE

static const unsigned SIZE =61

static

Definition at line 73 of file wg06.h.

supply_voltage_

uint16_t supply_voltage_

Definition at line 65 of file wg06.h.

timestamp_

uint32_t timestamp_

Definition at line 55 of file wg06.h.

unused1

uint8_t unused1

Definition at line 60 of file wg06.h.

unused2

int32_t unused2

Definition at line 61 of file wg06.h.

unused3

int32_t unused3

Definition at line 62 of file wg06.h.

unused4

uint8_t unused4[3]

Definition at line 71 of file wg06.h.

vhalf_

uint16_t vhalf_

Definition at line 51 of file wg06.h.