Class Cia402Driver

• Defined in File cia402_driver.hpp

Inheritance Relationships

Base Type

• public ros2_canopen::CanopenDriver

Class Documentation

class Cia402Driver : public ros2_canopen::CanopenDriver

Abstract Class for a CANopen Device Node.

This class provides the base functionality for creating a CANopen device node. It provides callbacks for nmt and rpdo.

Public Functions

Cia402Driver(rclcpp::NodeOptions node_options = rclcpp::NodeOptions())

inline virtual bool reset_node_nmt_command()

inline virtual bool start_node_nmt_command()

inline virtual bool tpdo_transmit(ros2_canopen::COData &data)

inline virtual bool sdo_write(ros2_canopen::COData &data)

inline virtual bool sdo_read(ros2_canopen::COData &data)

inline void register_nmt_state_cb(std::function<void(canopen::NmtState, uint8_t)> nmt_state_cb)

inline void register_rpdo_cb(std::function<void(COData, uint8_t)> rpdo_cb)

inline double get_speed()

inline double get_position()

inline bool set_target(double target)

inline bool init_motor()

inline bool recover_motor()

inline bool halt_motor()

inline bool set_mode_position()

inline bool set_mode_velocity()

inline bool set_mode_cyclic_position()

inline bool set_mode_cyclic_velocity()

inline bool set_mode_torque()

inline bool set_mode_interpolated_position()

inline uint16_t get_mode()

inline bool set_operation_mode(uint16_t mode)