mp_wrapper.h

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#ifndef MP_WRAPPER_H
#define MP_WRAPPER_H

/*
DEPRECATED - The utilities in this file should not be used.  The controller class
in controller.h should be used instead.

The mp wrapper source contains functions for wrapping common MP calls.  The MP
API provides a lot of flexibility that results in a lot of repeated code for
simple operations, like reading a value out of the integer data table
*/

#include "joint_data.h"
#include "motoPlus.h"

using namespace industrial::joint_data;

namespace motoman
{
namespace mp_wrapper
{

const int VAR_POLL_TICK_DELAY = 10;


int getInteger(int index);


void setInteger(int index, int value);

void getMotomanFbPos(industrial::joint_data::JointData & pos);
void getRosFbPos(industrial::joint_data::JointData & pos);

void toJointData(MP_FB_PULSE_POS_RSP_DATA & src, 
    industrial::joint_data::JointData & dest);
    
void toMpPosVarData(USHORT posVarIndex, industrial::joint_data::JointData & src, 
    MP_POSVAR_DATA & dest);



} //mp_wrapper
} //motoman

#endif //MP_WRAPPER_H