Program Listing for File homing_mode.hpp
↰ Return to documentation for file (include/canopen_402_driver/homing_mode.hpp
)
// Copyright 2023 Christoph Hellmann Santos
// Copyright 2014-2022 Authors of ros_canopen
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <https://www.gnu.org/licenses/>.
//
#ifndef HOMING_MODE_HPP
#define HOMING_MODE_HPP
#include "base.hpp"
#include "mode.hpp"
namespace ros2_canopen
{
class HomingMode : public Mode
{
protected:
enum SW_bits
{
SW_Attained = State402::SW_Operation_mode_specific0,
SW_Error = State402::SW_Operation_mode_specific1,
};
enum CW_bits
{
CW_StartHoming = Command402::CW_Operation_mode_specific0,
};
public:
HomingMode() : Mode(MotorBase::Homing) {}
virtual bool executeHoming() = 0;
};
} // namespace ros2_canopen
#endif // HOMING_MODE_HPP