Inheritance diagram for ronex::mapping::general_io::CommandToPWM:

Public Member Functions
	CommandToPWM (TiXmlElement mapping_el, ros_ethercat_model::RobotState robot)
virtual void	propagateFromRonex (ros_ethercat_model::JointState *js)
virtual void	propagateToRonex (ros_ethercat_model::JointState *js)
Protected Member Functions
bool	check_pins_in_bound_ ()
bool	init_ (TiXmlElement mapping_el, ros_ethercat_model::RobotState robot, const char *ronex_name)
virtual bool	try_init_cb_ (const ros::TimerEvent &, TiXmlElement mapping_el, ros_ethercat_model::RobotState robot, const char *ronex_name)
Protected Attributes
uint16_t	actual_period_
uint16_t	clock_divider_
size_t	digital_pin_index_
	digital pin index for the motor direction digital pin
GeneralIO *	general_io_
	Pointer to the GeneralIO module we specified in the transmission.
uint32_t	ideal_period_
	Those are used for computing the PWM on time / PWM period.
uint16_t	on_time_
bool	pin_out_of_bound_
	Are the pwm_module_, pwm_pin_index_ and digital_pin_index_ in the correct ranges?
size_t	pwm_module_
	PWM module index and PWM pin (0 or 1) as we have 2 pins per pwm_module_.
size_t	pwm_pin_index_

Detailed Description

Definition at line 36 of file command_to_pwm.hpp.

Constructor & Destructor Documentation

ronex::mapping::general_io::CommandToPWM::CommandToPWM	(	TiXmlElement *	mapping_el,
		ros_ethercat_model::RobotState *	robot
	)

Definition at line 35 of file command_to_pwm.cpp.

bool ronex::mapping::general_io::CommandToPWM::check_pins_in_bound_ ( ) [protected]

Check whether the pwm_module_ and pin_index_ are in the correct ranges.

Definition at line 135 of file command_to_pwm.cpp.

bool ronex::mapping::general_io::CommandToPWM::init_	(	TiXmlElement *	mapping_el,
		ros_ethercat_model::RobotState *	robot,
		const char *	ronex_name
	)		`[protected]`

Definition at line 65 of file command_to_pwm.cpp.

virtual void ronex::mapping::general_io::CommandToPWM::propagateFromRonex ( ros_ethercat_model::JointState * js ) [inline, virtual]

This function is not doing anything as we're not propagating a status in this mapping.

Definition at line 45 of file command_to_pwm.hpp.

void ronex::mapping::general_io::CommandToPWM::propagateToRonex ( ros_ethercat_model::JointState * js ) [virtual]

Propagating the specified joint command to the given PWM module.

Parameters:

js	joint_state of the joint specified in the transmission

Definition at line 178 of file command_to_pwm.cpp.

bool ronex::mapping::general_io::CommandToPWM::try_init_cb_	(	const ros::TimerEvent &	,
		TiXmlElement *	mapping_el,
		ros_ethercat_model::RobotState *	robot,
		const char *	ronex_name
	)		`[protected, virtual]`