wg05.h

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#ifndef ETHERCAT_HARDWARE_WG05_H
#define ETHERCAT_HARDWARE_WG05_H
 
#include <ethercat_hardware/wg0x.h>
 
class WG05 : public WG0X
{
public:
  void construct(EtherCAT_SlaveHandler *sh, int &start_address);
  int initialize(pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true);  
  void packCommand(unsigned char *buffer, bool halt, bool reset);  
  bool unpackState(unsigned char *this_buffer, unsigned char *prev_buffer);
  enum
  {
    PRODUCT_CODE = 6805005
  };
};
 
 
#endif /* ETHERCAT_HARDWARE_WG05_H */