sr0x.h
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1 
25 #ifndef SR_EDC_ETHERCAT_DRIVERS_SR0X_H
26 #define SR_EDC_ETHERCAT_DRIVERS_SR0X_H
27 
28 #include <ros_ethercat_hardware/ethercat_hardware.h>
30 #include <string>
31 
32 class SR0X :
33  public EthercatDevice
34 {
35 public:
36  virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed = true);
37 
38 protected:
39  uint8_t fw_major_;
40  uint8_t fw_minor_;
41  uint8_t board_major_;
42  uint8_t board_minor_;
43 
44  enum
45  {
46  MODE_OFF = 0x00,
47  MODE_ENABLE = (1 << 0),
48  MODE_CURRENT = (1 << 1),
49  MODE_SAFETY_RESET = (1 << 4),
50  MODE_SAFETY_LOCKOUT = (1 << 5),
51  MODE_UNDERVOLTAGE = (1 << 6),
52  MODE_RESET = (1 << 7)
53  };
54 
55  enum
56  {
60  };
61 
62  string reason_;
63  int level_;
64  int device_offset_; // !< Offset of device position from first device of Shadow Hand
65 
66 protected:
69 };
70 
71 #endif // SR_EDC_ETHERCAT_DRIVERS_SR0X_H
72 
virtual int initialize(hardware_interface::HardwareInterface *hw, bool allow_unprogrammed=true)
Definition: sr0x.cpp:36
int device_offset_
Definition: sr0x.h:64
int command_base_
Definition: sr0x.h:67
uint8_t fw_major_
Definition: sr0x.h:39
string reason_
Definition: sr0x.h:62
uint8_t fw_minor_
Definition: sr0x.h:40
uint8_t board_major_
Definition: sr0x.h:41
int level_
Definition: sr0x.h:63
Definition: sr0x.h:32
Publishes the last second of the motor controller.
uint8_t board_minor_
Definition: sr0x.h:42
int status_base_
Definition: sr0x.h:68


sr_edc_ethercat_drivers
Author(s): Ugo Cupcic, Yann Sionneau, Toni Oliver
autogenerated on Mon Feb 28 2022 23:50:53