ati_force_torque_hw_rs485.h File Reference

#include <iostream>
#include <fstream>
#include <Eigen/Core>
#include <libmodbus/modbus-rtu.h>
#include <ros/time.h>
#include <ros/ros.h>
#include <mutex>
#include <thread>
#include <boost/thread.hpp>
#include <force_torque_sensor/force_torque_sensor_hw.h>

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Classes
class	ATIForceTorqueSensorHWRS485
struct	CalibrationData
struct	GageVector

Macros
#define	MODBUSBAUD_115200   115200
#define	MODBUSBAUD_1250K   1250000
#define	MODBUSBAUD_19200   19200
#define	ST_ART_ANALOG_GRND_OOR   8
#define	ST_DAC_READING_OOR   8192
#define	ST_EEPROM_ERR   128
#define	ST_EXC_VOLTAGE_HIGH   2
#define	ST_EXC_VOLTAGE_LOW   4
#define	ST_INV_CONF_DATA   256
#define	ST_PWR_HIGH   16
#define	ST_PWR_LOW   32
#define	ST_STRAIN_GAGE_SUPPLY_HIGH   512
#define	ST_STRAIN_GAGE_SUPPLY_LOW   1024
#define	ST_THERMISTOR_HIGH   2048
#define	ST_THERMISTOR_LOW   4096
#define	ST_WATCHDOG_RESET   1

Enumerations
enum	ForceUnit {   FU_POUNDS = 1, FU_NEWTON, FU_KILOPOUND, FU_KILONEWTON,   FU_K_EQV_FORCE, FU_G_EQV_FORCE }
enum	TorqueUnit {   TU_POUNDS_INCH = 1, TU_POUNDS_FOOT, TU_NEWTON_METER, TU_NEWTON_MILITMETER,   TU_K_EQV_CENTIMETER, TU_KILONEWTONMETER }

Variables
const std::string	ForceUnitNames [] = {"lb", "N", "kip", "KN", "kp", "gf"}
const std::string	TorqueUnitNames [] = {"lb-in", "lb-ft", "Nm", "Nmm", "", "KNm"}

Macro Definition Documentation

#define MODBUSBAUD_115200   115200

Definition at line 64 of file ati_force_torque_hw_rs485.h.

#define MODBUSBAUD_1250K   1250000

Definition at line 63 of file ati_force_torque_hw_rs485.h.

#define MODBUSBAUD_19200   19200

Definition at line 65 of file ati_force_torque_hw_rs485.h.

#define ST_ART_ANALOG_GRND_OOR   8

Definition at line 94 of file ati_force_torque_hw_rs485.h.

#define ST_DAC_READING_OOR   8192

Definition at line 104 of file ati_force_torque_hw_rs485.h.

#define ST_EEPROM_ERR   128

Definition at line 98 of file ati_force_torque_hw_rs485.h.

#define ST_EXC_VOLTAGE_HIGH   2

Definition at line 92 of file ati_force_torque_hw_rs485.h.

#define ST_EXC_VOLTAGE_LOW   4

Definition at line 93 of file ati_force_torque_hw_rs485.h.

#define ST_INV_CONF_DATA   256

Definition at line 99 of file ati_force_torque_hw_rs485.h.

#define ST_PWR_HIGH   16

Definition at line 95 of file ati_force_torque_hw_rs485.h.

#define ST_PWR_LOW   32

Definition at line 96 of file ati_force_torque_hw_rs485.h.

#define ST_STRAIN_GAGE_SUPPLY_HIGH   512

Definition at line 100 of file ati_force_torque_hw_rs485.h.

#define ST_STRAIN_GAGE_SUPPLY_LOW   1024

Definition at line 101 of file ati_force_torque_hw_rs485.h.

#define ST_THERMISTOR_HIGH   2048

Definition at line 102 of file ati_force_torque_hw_rs485.h.

#define ST_THERMISTOR_LOW   4096

Definition at line 103 of file ati_force_torque_hw_rs485.h.

#define ST_WATCHDOG_RESET   1

Definition at line 91 of file ati_force_torque_hw_rs485.h.

Enumeration Type Documentation

enum ForceUnit

Enumerator
FU_POUNDS
FU_NEWTON
FU_KILOPOUND
FU_KILONEWTON
FU_K_EQV_FORCE
FU_G_EQV_FORCE

Definition at line 67 of file ati_force_torque_hw_rs485.h.

enum TorqueUnit

Enumerator
TU_POUNDS_INCH
TU_POUNDS_FOOT
TU_NEWTON_METER
TU_NEWTON_MILITMETER
TU_K_EQV_CENTIMETER
TU_KILONEWTONMETER

Definition at line 77 of file ati_force_torque_hw_rs485.h.

Variable Documentation

const std::string ForceUnitNames[] = {"lb", "N", "kip", "KN", "kp", "gf"}

Definition at line 87 of file ati_force_torque_hw_rs485.h.

const std::string TorqueUnitNames[] = {"lb-in", "lb-ft", "Nm", "Nmm", "", "KNm"}

Definition at line 88 of file ati_force_torque_hw_rs485.h.