00001 /***************************************************************************/ 00008 #ifndef JOINTCONTROLCOMMANDFSMWRIST_H_ 00009 #define JOINTCONTROLCOMMANDFSMWRIST_H_ 00010 00011 #include "robodyn_mechanisms/JointControlCommandInterface.h" 00012 00013 class JointControlCommandWrist : public JointControlCommandInterface 00014 { 00015 public: 00016 JointControlCommandWrist(const std::string&, IoFunctions); 00017 virtual ~JointControlCommandWrist(); 00018 00019 void getStates(r2_msgs::JointControlData& commandStates); 00020 00021 // controlMode functions 00022 void bootLoader(void); 00023 void off(void); 00024 void park(void); 00025 void neutral(void); 00026 void drive(void); 00027 00028 // commandMode functions 00029 void motCom(void); 00030 void stallMode(void); 00031 void multiLoopStep(void); 00032 void multiLoopSmooth(void); 00033 void actuator(void); 00034 00035 // calibrationMode functions 00036 void disableCalibrationMode(void); 00037 void enableCalibrationMode(void); 00038 void resetCalibrationMode(void); 00039 00040 // clearFaultMode functions 00041 void enableClearFaultMode(void); 00042 void disableClearFaultMode(void); 00043 00044 protected: 00045 void setParameters(); 00046 const std::string logCategory; 00047 00048 private: 00049 // Live coeffs names 00050 std::string ControlModeLiveCoeffName; 00051 std::string CommandModeLiveCoeffName; 00052 std::string CalibrationModeLiveCoeffName; 00053 std::string ClearFaultStateLiveCoeffName; 00054 }; 00055 00056 #endif