#include <motor_hardware.h>

Inheritance diagram for MotorHardware:

Classes
struct	Joint
Public Member Functions
	MotorHardware (ros::NodeHandle nh)
void	readInputs ()
void	requestOdometry ()
void	requestVelocity ()
void	requestVersion ()
void	sendPid ()
void	setPid (int32_t p, int32_t i, int32_t d, int32_t denominator)
void	writeSpeeds ()
	~MotorHardware ()
Private Attributes
int32_t	d_value
int32_t	denominator_value
int32_t	i_value
hardware_interface::JointStateInterface	joint_state_interface_
struct MotorHardware::Joint	joints_ [2]
MotorSerial *	motor_serial_
int32_t	p_value
hardware_interface::VelocityJointInterface	velocity_joint_interface_

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of ubiquity_motor nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 42 of file motor_hardware.h.