CANopenMotorDriver.h File Reference

#include <boost/function.hpp>
#include <boost/thread/thread.hpp>
#include <ros/ros.h>
#include <can_msgs/CANFrame.h>

Include dependency graph for CANopenMotorDriver.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	canopen::CANopenMotorDriver
	C++ CANopenMotorDriver class for ROS. More...
Namespaces
namespace	canopen
Defines
#define	COB_EMCY   0x80
#define	COB_NMT_ERROR   0x700
#define	COB_NMT_SERVICE   0x0
	COB IDs of all communication objects.
#define	COB_R_PDO1   0x200
#define	COB_R_PDO2   0x300
#define	COB_R_PDO3   0x400
#define	COB_R_SDO   0x600
#define	COB_SYNC   0x80
#define	COB_T_PDO1   0x180
#define	COB_T_PDO2   0x280
#define	COB_T_PDO3   0x380
#define	COB_T_SDO   0x580
#define	ERROR_RESPONSE   0x80
#define	ID_MASK   0x7F
#define	READ_REQUEST_1BYTE   0x4F
#define	READ_REQUEST_2BYTE   0x4B
#define	READ_REQUEST_3BYTE   0x47
#define	READ_REQUEST_4BYTE   0x43
#define	READ_RESPONSE   0x40
#define	WRITE_REQUEST_1BYTE   0x2F
#define	WRITE_REQUEST_2BYTE   0x2B
#define	WRITE_REQUEST_3BYTE   0x27
#define	WRITE_REQUEST_4BYTE   0x23
	CCD codings, depends on the message type and the transmitted data length.
#define	WRITE_RESPONSE   0x60
Typedefs
typedef enum canopen::_HomingMethod	canopen::HomingMethod
	Macro for defining an exception with a given parent (std::runtime_error should be top parent)
Enumerations
enum	canopen::_HomingMethod {   canopen::method_1 = 1, canopen::method_2 = 2, canopen::method_3 = 3, canopen::method_4 = 4,   canopen::method_5 = 5, canopen::method_6 = 6, canopen::method_7 = 7, canopen::method_8 = 8,   canopen::method_9 = 9, canopen::method_10 = 10, canopen::method_11 = 11, canopen::method_12 = 12,   canopen::method_13 = 13, canopen::method_14 = 14, canopen::method_17 = 17, canopen::method_18 = 18,   canopen::method_19 = 19, canopen::method_20 = 20, canopen::method_21 = 21, canopen::method_22 = 22,   canopen::method_23 = 23, canopen::method_24 = 24, canopen::method_25 = 25, canopen::method_26 = 26,   canopen::method_27 = 27, canopen::method_28 = 28, canopen::method_29 = 29, canopen::method_30 = 30,   canopen::method_33 = 33, canopen::method_34 = 34, canopen::method_35 = 35 }
	Macro for defining an exception with a given parent (std::runtime_error should be top parent) More...

---

Define Documentation

#define COB_EMCY   0x80

Definition at line 49 of file CANopenMotorDriver.h.

#define COB_NMT_ERROR   0x700

Definition at line 58 of file CANopenMotorDriver.h.

#define COB_NMT_SERVICE   0x0

COB IDs of all communication objects.

Definition at line 47 of file CANopenMotorDriver.h.

#define COB_R_PDO1   0x200

Definition at line 51 of file CANopenMotorDriver.h.

#define COB_R_PDO2   0x300

Definition at line 53 of file CANopenMotorDriver.h.

#define COB_R_PDO3   0x400

Definition at line 55 of file CANopenMotorDriver.h.

#define COB_R_SDO   0x600

Definition at line 57 of file CANopenMotorDriver.h.

#define COB_SYNC   0x80

Definition at line 48 of file CANopenMotorDriver.h.

#define COB_T_PDO1   0x180

Definition at line 50 of file CANopenMotorDriver.h.

#define COB_T_PDO2   0x280

Definition at line 52 of file CANopenMotorDriver.h.

#define COB_T_PDO3   0x380

Definition at line 54 of file CANopenMotorDriver.h.

#define COB_T_SDO   0x580

Definition at line 56 of file CANopenMotorDriver.h.

#define ERROR_RESPONSE   0x80

Definition at line 71 of file CANopenMotorDriver.h.

#define ID_MASK   0x7F

Definition at line 44 of file CANopenMotorDriver.h.

#define READ_REQUEST_1BYTE   0x4F

Definition at line 69 of file CANopenMotorDriver.h.

#define READ_REQUEST_2BYTE   0x4B

Definition at line 68 of file CANopenMotorDriver.h.

#define READ_REQUEST_3BYTE   0x47

Definition at line 67 of file CANopenMotorDriver.h.

#define READ_REQUEST_4BYTE   0x43

Definition at line 66 of file CANopenMotorDriver.h.

#define READ_RESPONSE   0x40

Definition at line 70 of file CANopenMotorDriver.h.

#define WRITE_REQUEST_1BYTE   0x2F

Definition at line 64 of file CANopenMotorDriver.h.

#define WRITE_REQUEST_2BYTE   0x2B

Definition at line 63 of file CANopenMotorDriver.h.

#define WRITE_REQUEST_3BYTE   0x27

Definition at line 62 of file CANopenMotorDriver.h.

#define WRITE_REQUEST_4BYTE   0x23

CCD codings, depends on the message type and the transmitted data length.

Definition at line 61 of file CANopenMotorDriver.h.

#define WRITE_RESPONSE   0x60

Definition at line 65 of file CANopenMotorDriver.h.