#include <wg021.h>

Inheritance diagram for WG021:

Public Types
enum	{ PRODUCT_CODE = 6805021 }
enum	{ PROJECTOR_CONFIG_ENABLE = 8, PROJECTOR_CONFIG_ENABLE_ENABLED = 8, PROJECTOR_CONFIG_ENABLE_DISABLED = 0, PROJECTOR_CONFIG_ACTION = 4, PROJECTOR_CONFIG_ACTION_ON = 4, PROJECTOR_CONFIG_ACTION_OFF = 0, PROJECTOR_CONFIG_POLARITY = 2, PROJECTOR_CONFIG_POLARITY_ACTIVE_HIGH = 2, PROJECTOR_CONFIG_POLARITY_ACTIVE_LOW = 0, PROJECTOR_CONFIG_STATE = 1, PROJECTOR_CONFIG_STATE_HIGH = 1, PROJECTOR_CONFIG_STATE_LOW = 0 }
Public Member Functions
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device
void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
	For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
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)
	WG021 ()
Private Attributes
pr2_hardware_interface::DigitalOut	digital_out_A_
pr2_hardware_interface::DigitalOut	digital_out_B_
pr2_hardware_interface::DigitalOut	digital_out_I_
pr2_hardware_interface::DigitalOut	digital_out_L0_
pr2_hardware_interface::DigitalOut	digital_out_L1_
pr2_hardware_interface::DigitalOut	digital_out_M_
pr2_hardware_interface::Projector	projector_

Detailed Description

Definition at line 85 of file wg021.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

PRODUCT_CODE

Definition at line 94 of file wg021.h.

anonymous enum

Enumerator:

PROJECTOR_CONFIG_ENABLE
PROJECTOR_CONFIG_ENABLE_ENABLED
PROJECTOR_CONFIG_ENABLE_DISABLED
PROJECTOR_CONFIG_ACTION
PROJECTOR_CONFIG_ACTION_ON
PROJECTOR_CONFIG_ACTION_OFF
PROJECTOR_CONFIG_POLARITY
PROJECTOR_CONFIG_POLARITY_ACTIVE_HIGH
PROJECTOR_CONFIG_POLARITY_ACTIVE_LOW
PROJECTOR_CONFIG_STATE
PROJECTOR_CONFIG_STATE_HIGH
PROJECTOR_CONFIG_STATE_LOW

Definition at line 98 of file wg021.h.

WG021::WG021 ( ) [inline]

Definition at line 88 of file wg021.h.

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from WG0X.

Definition at line 54 of file wg021.cpp.

void WG021::diagnostics	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *	buffer
	)		`[virtual]`

For EtherCAT device that only publish one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:

d	Diagnostics status wrapper.
buffer	Pointer to slave process data.

Reimplemented from WG0X.

Definition at line 242 of file wg021.cpp.

int WG021::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)		`[virtual]`

Reimplemented from WG0X.

Definition at line 115 of file wg021.cpp.

Parameters:

reset	when asserted this will clear diagnostic error conditions device safety disable
halt	while asserted will disable actuator, usually by disabling H-bridge

Reimplemented from WG0X.

Definition at line 160 of file wg021.cpp.