robot_mode.h File Reference

#include <inttypes.h>
#include <cstddef>
#include "ur_modern_driver/bin_parser.h"
#include "ur_modern_driver/types.h"
#include "ur_modern_driver/ur/state.h"

Include dependency graph for robot_mode.h:

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Classes
class	RobotModeData_V1_X
class	RobotModeData_V3_0__1
class	RobotModeData_V3_2
class	RobotModeData_V3_5
class	SharedRobotModeData

Enumerations
enum	robot_control_mode_V3_X : uint8_t { robot_control_mode_V3_X::POSITION = 0, robot_control_mode_V3_X::TEACH = 1, robot_control_mode_V3_X::FORCE = 2, robot_control_mode_V3_X::TORQUE = 3 }
enum	robot_mode_V1_X : uint8_t {   robot_mode_V1_X::ROBOT_RUNNING_MODE = 0, robot_mode_V1_X::ROBOT_FREEDRIVE_MODE = 1, robot_mode_V1_X::ROBOT_READY_MODE = 2, robot_mode_V1_X::ROBOT_INITIALIZING_MODE = 3,   robot_mode_V1_X::ROBOT_SECURITY_STOPPED_MODE = 4, robot_mode_V1_X::ROBOT_EMERGENCY_STOPPED_MODE = 5, robot_mode_V1_X::ROBOT_FATAL_ERROR_MODE = 6, robot_mode_V1_X::ROBOT_NO_POWER_MODE = 7,   robot_mode_V1_X::ROBOT_NOT_CONNECTED_MODE = 8, robot_mode_V1_X::ROBOT_SHUTDOWN_MODE = 9, robot_mode_V1_X::ROBOT_SAFEGUARD_STOP_MODE = 10 }
enum	robot_mode_V3_X : uint8_t {   robot_mode_V3_X::DISCONNECTED = 0, robot_mode_V3_X::CONFIRM_SAFETY = 1, robot_mode_V3_X::BOOTING = 2, robot_mode_V3_X::POWER_OFF = 3,   robot_mode_V3_X::POWER_ON = 4, robot_mode_V3_X::IDLE = 5, robot_mode_V3_X::BACKDRIVE = 6, robot_mode_V3_X::RUNNING = 7,   robot_mode_V3_X::UPDATING_FIRMWARE = 8 }

Enumeration Type Documentation

enum robot_control_mode_V3_X : uint8_t

strong

Enumerator
POSITION
TEACH
FORCE
TORQUE

Definition at line 86 of file robot_mode.h.

enum robot_mode_V1_X : uint8_t

strong

Enumerator
ROBOT_RUNNING_MODE
ROBOT_FREEDRIVE_MODE
ROBOT_READY_MODE
ROBOT_INITIALIZING_MODE
ROBOT_SECURITY_STOPPED_MODE
ROBOT_EMERGENCY_STOPPED_MODE
ROBOT_FATAL_ERROR_MODE
ROBOT_NO_POWER_MODE
ROBOT_NOT_CONNECTED_MODE
ROBOT_SHUTDOWN_MODE
ROBOT_SAFEGUARD_STOP_MODE

Definition at line 44 of file robot_mode.h.

enum robot_mode_V3_X : uint8_t

strong

Enumerator
DISCONNECTED
CONFIRM_SAFETY
BOOTING
POWER_OFF
POWER_ON
IDLE
BACKDRIVE
RUNNING
UPDATING_FIRMWARE

Definition at line 73 of file robot_mode.h.