wg06.h File Reference

#include <ethercat_hardware/wg0x.h>
#include <ethercat_hardware/wg_soft_processor.h>
#include <pr2_msgs/PressureState.h>
#include <pr2_msgs/AccelerometerState.h>
#include <ethercat_hardware/RawFTData.h>
#include <geometry_msgs/WrenchStamped.h>

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Classes
struct	FTDataSample
class	FTParamsInternal
class	WG06
struct	WG06BigPressure
struct	WG06Pressure
struct	WG06StatusWithAccel
struct	WG06StatusWithAccelAndFT
Functions
struct WG06StatusWithAccel	__attribute__ ((__packed__))
Variables
class FTParamsInternal	__attribute__
uint32_t	accel_ [4]
uint8_t	accel_count_
uint16_t	board_temperature_
uint16_t	bridge_temperature_
uint8_t	checksum_
int16_t	data_ [6]
uint8_t	digital_out_
int32_t	encoder_count_
int32_t	encoder_index_pos_
uint8_t	encoder_status_
uint8_t	ft_sample_count_
FTDataSample	ft_samples_ [4]
uint16_t	l_finger_tip_ [22]
int16_t	measured_current_
uint8_t	mode_
int16_t	motor_voltage_
uint16_t	num_encoder_errors_
uint16_t	packet_count_
uint8_t	pad_
WG06Pressure	pressure_
int16_t	programmed_current_
int16_t	programmed_pwm_value_
uint16_t	r_finger_tip_ [22]
uint8_t	sample_count_
static const unsigned	SIZE = 61
uint16_t	supply_voltage_
uint32_t	timestamp_
uint8_t	unused1
int32_t	unused2
int32_t	unused3
uint8_t	unused4 [3]
uint16_t	vhalf_

---

Function Documentation

struct WG06StatusWithAccel __attribute__

(

(__packed__)

)

---

Variable Documentation

WG06 __attribute__

uint32_t accel_

Definition at line 94 of file wg06.h.

uint8_t accel_count_

Definition at line 93 of file wg06.h.

uint16_t board_temperature_

Definition at line 87 of file wg06.h.

uint16_t bridge_temperature_

Definition at line 88 of file wg06.h.

uint8_t checksum_

Definition at line 95 of file wg06.h.

int16_t data_[6]

Definition at line 84 of file wg06.h.

uint8_t digital_out_

Definition at line 75 of file wg06.h.

int32_t encoder_count_

Definition at line 80 of file wg06.h.

int32_t encoder_index_pos_

Definition at line 81 of file wg06.h.

uint8_t encoder_status_

Definition at line 83 of file wg06.h.

uint8_t ft_sample_count_

Definition at line 162 of file wg06.h.

FTDataSample ft_samples_[4]

Definition at line 163 of file wg06.h.

uint16_t l_finger_tip_[22]

Definition at line 152 of file wg06.h.

int16_t measured_current_

Definition at line 78 of file wg06.h.

uint8_t mode_

Definition at line 74 of file wg06.h.

int16_t motor_voltage_

Definition at line 90 of file wg06.h.

uint16_t num_encoder_errors_

Definition at line 82 of file wg06.h.

uint16_t packet_count_

Definition at line 91 of file wg06.h.

uint8_t pad_[418]

Definition at line 92 of file wg06.h.

WG06Pressure pressure_

Definition at line 160 of file wg06.h.

int16_t programmed_current_

Definition at line 77 of file wg06.h.

int16_t programmed_pwm_value_

Definition at line 76 of file wg06.h.

uint16_t r_finger_tip_[22]

Definition at line 153 of file wg06.h.

uint8_t sample_count_

Definition at line 86 of file wg06.h.

static const unsigned SIZE = 61 [static]

Definition at line 97 of file wg06.h.

uint16_t supply_voltage_

Definition at line 89 of file wg06.h.

uint32_t timestamp_

Definition at line 79 of file wg06.h.

uint8_t unused1

Definition at line 84 of file wg06.h.

int32_t unused2

Definition at line 85 of file wg06.h.

int32_t unused3

Definition at line 86 of file wg06.h.

uint8_t unused4[3]

Definition at line 161 of file wg06.h.

uint16_t vhalf_

Definition at line 85 of file wg06.h.