ronex::SPISensorReadController Class Reference

#include <spi_sensor_read_controller.h>

Inheritance diagram for ronex::SPISensorReadController:

List of all members.

Public Member Functions
std::vector< double >	get_sensor_value ()
std::vector< int >	get_spi_channel ()
virtual bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)
void	update (const ros::Time &, const ros::Duration &)
	Issues commands to the joint. Should be called at regular intervals.
Protected Attributes
ros::Time	last_publish_time_
Static Protected Attributes
static const double	publish_rate_ = 100
Private Attributes
std::vector< uint16_t >	chip_select_masks_
std::vector< ros::ServiceServer >	command_srv_
bool	first_run_
realtime_tools::RealtimePublisher < std_msgs::Float64MultiArray >	sensor_data_publisher_
std_msgs::Float64MultiArray	sensor_msg_
std::vector< int >	spi_channel_
std::vector< SplittedSPICommand >	standard_commands_
Static Private Attributes
static const int	default_spi_channel_ = 1
static const size_t	sensor_message_length_ = 2
static const size_t	spi_mode_ = 1

---

Detailed Description

Definition at line 40 of file spi_sensor_read_controller.h.

---

Member Function Documentation

std::vector< double > ronex::SPISensorReadController::get_sensor_value

(

)

Definition at line 176 of file spi_sensor_read_controller.cpp.

std::vector< int > ronex::SPISensorReadController::get_spi_channel

(

)

Definition at line 181 of file spi_sensor_read_controller.cpp.

bool ronex::SPISensorReadController::init	(	ros_ethercat_model::RobotStateInterface *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Reimplemented from ronex::SPIBaseController.

Definition at line 41 of file spi_sensor_read_controller.cpp.

void ronex::SPISensorReadController::update	(	const ros::Time &	,
		const ros::Duration &
	)		[virtual]

Issues commands to the joint. Should be called at regular intervals.

Reimplemented from ronex::SPIBaseController.

Definition at line 84 of file spi_sensor_read_controller.cpp.

---

Member Data Documentation

std::vector<uint16_t> ronex::SPISensorReadController::chip_select_masks_ [private]

Definition at line 69 of file spi_sensor_read_controller.h.

std::vector<ros::ServiceServer> ronex::SPISensorReadController::command_srv_ [private]

Definition at line 62 of file spi_sensor_read_controller.h.

const int ronex::SPISensorReadController::default_spi_channel_ = 1 [static, private]

Definition at line 56 of file spi_sensor_read_controller.h.

bool ronex::SPISensorReadController::first_run_ [private]

Definition at line 70 of file spi_sensor_read_controller.h.

ros::Time ronex::SPISensorReadController::last_publish_time_ [protected]

Definition at line 51 of file spi_sensor_read_controller.h.

const double ronex::SPISensorReadController::publish_rate_ = 100 [static, protected]

Definition at line 52 of file spi_sensor_read_controller.h.

realtime_tools::RealtimePublisher<std_msgs::Float64MultiArray> ronex::SPISensorReadController::sensor_data_publisher_ [private]

Definition at line 63 of file spi_sensor_read_controller.h.

const size_t ronex::SPISensorReadController::sensor_message_length_ = 2 [static, private]

Definition at line 57 of file spi_sensor_read_controller.h.

std_msgs::Float64MultiArray ronex::SPISensorReadController::sensor_msg_ [private]

Definition at line 61 of file spi_sensor_read_controller.h.

std::vector<int> ronex::SPISensorReadController::spi_channel_ [private]

Definition at line 55 of file spi_sensor_read_controller.h.

const size_t ronex::SPISensorReadController::spi_mode_ = 1 [static, private]

Definition at line 58 of file spi_sensor_read_controller.h.

std::vector<SplittedSPICommand> ronex::SPISensorReadController::standard_commands_ [private]

Definition at line 67 of file spi_sensor_read_controller.h.

---

The documentation for this class was generated from the following files:

• spi_sensor_read_controller.h
• spi_sensor_read_controller.cpp