#include <ros/ros.h>
#include <thread>
#include <stdio.h>
#include <unistd.h>
#include "VMXIO.h"
#include "VMXPi.h"
#include "vmxpi_utils.h"
#include <std_msgs/Int16.h>
#include <std_msgs/Float32.h>
#include <sys/syscall.h>

Classes
class	CobraROS

Macros
#define	DELAY 0.001

#define	POINTER_CONVERT 0X0000

#define	POINTER_CONFIG 0x0001

#define	POINTER_LOWTHRESH 0x0002

#define	POINTER_HITHRESH 0x0003

#define	CONFIG_OS_NO 0x8000

#define	CONFIG_OS_SINGLE 0x8000

#define	CONFIG_OS_READY 0x8000

#define	CONFIG_OS_NOTREADY 0x8000

#define	CONFIG_MODE_CONT 0x0000

#define	CONFIG_MODE_SINGLE 0x0100

#define	CONFIG_MUX_SINGLE_0 0x4000

#define	CONFIG_MUX_SINGLE_1 0x5000

#define	CONFIG_MUX_SINGLE_2 0x6000

#define	CONFIG_MUX_SINGLE_3 0x7000

#define	CONFIG_MUX_DIFF_PO_N1 0x0000

#define	CONFIG_MUX_DIFF_PO_N3 0x1000

#define	CONFIG_MUX_DIFF_P1_N3 0x2000

#define	CONFIG_MUX_DIFF_P2_N3 0x3000

#define	CONFIG_RATE_128HZ 0x0000

#define	CONFIG_RATE_250HZ 0x0020

#define	CONFIG_RATE_490HZ 0x0040

#define	CONFIG_RATE_920HZ 0x0060

#define	CONFIG_RATE_1600HZ 0x0080

#define	CONFIG_RATE_2400HZ 0x00A0

#define	CONFIG_RATE_3300HZ 0x00C0

#define	CONFIG_PGA_MASK 0x0E00

#define	CONFIG_PGA_TWOTHIRDS 0x0000

#define	CONFIG_PGA_1 0x0200

#define	CONFIG_PGA_2 0x0400

#define	CONFIG_PGA_4 0x0600

#define	CONFIG_PGA_8 0x0800

#define	CONFIG_PGA_16 0x0A00

#define	CONFIG_CMODE_TRAD 0x0000

#define	CONFIG_CMODE_WINDOW 0x0010

#define	CONFIG_CPOL_ACTVLOW 0x0000

#define	CONFIG_CPOL_ACTVHI 0x0008

#define	CONFIG_CLAT_NOLAT 0x0000

#define	CONFIG_CLAT_LATCH 0x0004

#define	CONFIG_CQUE_1CONV 0x0000

#define	CONFIG_CQUE_2CONV 0x0001

#define	CONFIG_CQUE_4CONV 0x0002

#define	CONFIG_CQUE_NONE 0x0003

Macro Definition Documentation

◆ CONFIG_CLAT_LATCH

#define CONFIG_CLAT_LATCH 0x0004

◆ CONFIG_CLAT_NOLAT

#define CONFIG_CLAT_NOLAT 0x0000

◆ CONFIG_CMODE_TRAD

#define CONFIG_CMODE_TRAD 0x0000

◆ CONFIG_CMODE_WINDOW

#define CONFIG_CMODE_WINDOW 0x0010

◆ CONFIG_CPOL_ACTVHI

#define CONFIG_CPOL_ACTVHI 0x0008

◆ CONFIG_CPOL_ACTVLOW

#define CONFIG_CPOL_ACTVLOW 0x0000

◆ CONFIG_CQUE_1CONV

#define CONFIG_CQUE_1CONV 0x0000

◆ CONFIG_CQUE_2CONV

#define CONFIG_CQUE_2CONV 0x0001

◆ CONFIG_CQUE_4CONV

#define CONFIG_CQUE_4CONV 0x0002

◆ CONFIG_CQUE_NONE

#define CONFIG_CQUE_NONE 0x0003

◆ CONFIG_MODE_CONT

#define CONFIG_MODE_CONT 0x0000

◆ CONFIG_MODE_SINGLE

#define CONFIG_MODE_SINGLE 0x0100

◆ CONFIG_MUX_DIFF_P1_N3

#define CONFIG_MUX_DIFF_P1_N3 0x2000

◆ CONFIG_MUX_DIFF_P2_N3

#define CONFIG_MUX_DIFF_P2_N3 0x3000

◆ CONFIG_MUX_DIFF_PO_N1

#define CONFIG_MUX_DIFF_PO_N1 0x0000

◆ CONFIG_MUX_DIFF_PO_N3

#define CONFIG_MUX_DIFF_PO_N3 0x1000

◆ CONFIG_MUX_SINGLE_0

#define CONFIG_MUX_SINGLE_0 0x4000

◆ CONFIG_MUX_SINGLE_1

#define CONFIG_MUX_SINGLE_1 0x5000

◆ CONFIG_MUX_SINGLE_2

#define CONFIG_MUX_SINGLE_2 0x6000

◆ CONFIG_MUX_SINGLE_3

#define CONFIG_MUX_SINGLE_3 0x7000

◆ CONFIG_OS_NO

#define CONFIG_OS_NO 0x8000

◆ CONFIG_OS_NOTREADY

#define CONFIG_OS_NOTREADY 0x8000

◆ CONFIG_OS_READY

#define CONFIG_OS_READY 0x8000

◆ CONFIG_OS_SINGLE

#define CONFIG_OS_SINGLE 0x8000

◆ CONFIG_PGA_1

#define CONFIG_PGA_1 0x0200

◆ CONFIG_PGA_16

#define CONFIG_PGA_16 0x0A00

◆ CONFIG_PGA_2

#define CONFIG_PGA_2 0x0400

◆ CONFIG_PGA_4

#define CONFIG_PGA_4 0x0600

◆ CONFIG_PGA_8

#define CONFIG_PGA_8 0x0800

◆ CONFIG_PGA_MASK

#define CONFIG_PGA_MASK 0x0E00

◆ CONFIG_PGA_TWOTHIRDS

#define CONFIG_PGA_TWOTHIRDS 0x0000

◆ CONFIG_RATE_128HZ

#define CONFIG_RATE_128HZ 0x0000

◆ CONFIG_RATE_1600HZ

#define CONFIG_RATE_1600HZ 0x0080

◆ CONFIG_RATE_2400HZ

#define CONFIG_RATE_2400HZ 0x00A0

◆ CONFIG_RATE_250HZ

#define CONFIG_RATE_250HZ 0x0020

◆ CONFIG_RATE_3300HZ

#define CONFIG_RATE_3300HZ 0x00C0

◆ CONFIG_RATE_490HZ

#define CONFIG_RATE_490HZ 0x0040

◆ CONFIG_RATE_920HZ

#define CONFIG_RATE_920HZ 0x0060

◆ DELAY

#define DELAY 0.001

◆ POINTER_CONFIG

#define POINTER_CONFIG 0x0001

◆ POINTER_CONVERT

#define POINTER_CONVERT 0X0000

◆ POINTER_HITHRESH

#define POINTER_HITHRESH 0x0003

◆ POINTER_LOWTHRESH

#define POINTER_LOWTHRESH 0x0002

Classes

Macros