SchunkPowerBallNode.h
Go to the documentation of this file.
00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00003 // This file is part of the SCHUNK Canopen Driver suite.
00004 //
00005 // This program is free software licensed under the LGPL
00006 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00007 // You can find a copy of this license in LICENSE folder in the top
00008 // directory of the source code.
00009 //
00010 // © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
00011 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00012 // -- END LICENSE BLOCK ------------------------------------------------
00013 //----------------------------------------------------------------------
00020 //----------------------------------------------------------------------
00021 
00022 #ifndef SCHUNKPOWERBALLNODE_H
00023 #define SCHUNKPOWERBALLNODE_H
00024 
00025 #include "DS402Node.h"
00026 
00027 namespace icl_hardware {
00028 namespace canopen_schunk {
00029 
00046   class SchunkPowerBallNode : public DS402Node
00047 {
00048 public:
00050   typedef boost::shared_ptr<SchunkPowerBallNode> Ptr;
00052   typedef boost::shared_ptr<const SchunkPowerBallNode> ConstPtr;
00053 
00057   static const double RAD_TO_STEPS_FACTOR = 57295.7795131;
00058 
00059   SchunkPowerBallNode(const uint8_t node_id, const icl_hardware::canopen_schunk::CanDevPtr& can_device, HeartBeatMonitor::Ptr heartbeat_monitor);
00060 
00070   void commutationSearch();
00071 
00082   virtual void configureHomingMethod (const uint8_t homing_method);
00083 
00093   virtual void configureHomingSpeeds (const uint32_t low_speed, const uint32_t high_speed = 0);
00094 
00098   virtual void initNode ();
00099 
00100   virtual void setDefaultPDOMapping (const DS402Node::eDefaultPDOMapping mapping);
00101 
00102 protected:
00109   virtual void configureInterpolationData (const uint8_t buffer_organization = 0,
00110                                            const int16_t interpolation_type = 0,
00111                                            const uint8_t size_of_data_record = 4);
00112 
00113 private:
00120   bool CommutationCalibrated ();
00121 };
00122 
00123 }} // end of NS
00124 #endif // SCHUNKPOWERBALLNODE_H


schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Sun May 22 2016 03:30:56