File List

Here is a list of all files with brief descriptions:

comms.cpp	Implementation of Comms class methods to handle reading and writing to the UM6 serial interface
comms.h	Comms class definition. Does not manage the serial connection itself, but takes care of reading and writing to UM6
firmware_registers.h	Copied directly from the UM6_config.h file, available online here: http://sourceforge.net/p/um6firmware/code/34/tree/trunk/UM6%20Firmware/UM6_config.h#l14
main.cpp	Main entry point for UM6 driver. Handles serial connection details, as well as all ROS message stuffing, parameters, topics, etc
registers.cpp	Stub method from the Accessor class
registers.h	Provides the Registers class, which initializes with a suite of accessors suitable for reading and writing the UM6 registers, including byte-order conversion and scaling handled
test_comms.cpp
test_registers.cpp