00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00025 #ifndef _MK2_GIO_HARDWARE_INTERFACE_H_ 00026 #define _MK2_GIO_HARDWARE_INTERFACE_H_ 00027 00028 #include <ros_ethercat_model/hardware_interface.hpp> 00029 #include <sr_ronex_external_protocol/Ronex_Protocol_0x02000001_GIO_00.h> 00030 #include <vector> 00031 00032 namespace ronex 00033 { 00034 class GeneralIOCommand 00035 { 00036 public: 00037 std::vector<bool> digital_; 00038 00039 struct PWM 00040 { 00041 unsigned short int period; 00042 unsigned short int on_time_0; 00043 unsigned short int on_time_1; 00044 }; 00045 00046 std::vector<PWM> pwm_; 00047 unsigned short int pwm_clock_divider_; 00048 }; 00049 00050 class GeneralIOState 00051 { 00052 public: 00053 std::vector<bool> digital_; 00054 std::vector<unsigned short int> analogue_; 00055 }; 00056 00067 class GeneralIO 00068 : public ros_ethercat_model::CustomHW 00069 { 00070 public: 00071 GeneralIOState state_; 00072 GeneralIOCommand command_; 00073 }; 00074 } 00075 /* For the emacs weenies in the crowd. 00076 Local Variables: 00077 c-basic-offset: 2 00078 End: 00079 */ 00080 00081 #endif /* _MK2_GIO_HARDWARE_INTERFACE_H_ */