#include <base.h>

Inheritance diagram for canopen::MotorBase:

Public Types
typedef boost::shared_ptr< MotorBase >	MotorBaseSharedPtr

enum	OperationMode { No_Mode = 0, Profiled_Position = 1, Velocity = 2, Profiled_Velocity = 3, Profiled_Torque = 4, Reserved = 5, Homing = 6, Interpolated_Position = 7, Cyclic_Synchronous_Position = 8, Cyclic_Synchronous_Velocity = 9, Cyclic_Synchronous_Torque = 10 }

Public Types inherited from canopen::Layer
enum	LayerState

Public Member Functions
virtual bool	enterModeAndWait (uint16_t mode)=0

virtual uint16_t	getMode ()=0

virtual bool	isModeSupported (uint16_t mode)=0

virtual void	registerDefaultModes (ObjectStorageSharedPtr storage)

virtual bool	setTarget (double val)=0

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

Protected Member Functions
	MotorBase (const std::string &name)

Protected Member Functions inherited from canopen::Layer
virtual void	handleDiag (LayerReport &report)=0

virtual void	handleHalt (LayerStatus &status)=0

virtual void	handleInit (LayerStatus &status)=0

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)=0

virtual void	handleRecover (LayerStatus &status)=0

virtual void	handleShutdown (LayerStatus &status)=0

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)=0

Additional Inherited Members
Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Detailed Description

Definition at line 9 of file base.h.

Member Typedef Documentation

Definition at line 33 of file base.h.

Enumerator
No_Mode
Profiled_Position
Velocity
Profiled_Velocity
Profiled_Torque
Reserved
Homing
Interpolated_Position
Cyclic_Synchronous_Position
Cyclic_Synchronous_Velocity
Cyclic_Synchronous_Torque

Definition at line 13 of file base.h.

canopen::MotorBase::MotorBase ( const std::string & name )

inlineprotected

Definition at line 11 of file base.h.

virtual bool canopen::MotorBase::enterModeAndWait ( uint16_t mode )

pure virtual

virtual uint16_t canopen::MotorBase::getMode ( )

pure virtual

virtual bool canopen::MotorBase::isModeSupported ( uint16_t mode )

pure virtual

virtual void canopen::MotorBase::registerDefaultModes ( ObjectStorageSharedPtr storage )

inlinevirtual

Reimplemented in canopen::Motor402.

Definition at line 31 of file base.h.

virtual bool canopen::MotorBase::setTarget ( double val )

pure virtual

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