#include <DO_ros.h>

Inheritance diagram for DigitalOutputROS:

Public Member Functions
	DigitalOutputROS (ros::NodeHandle nh, VMXPi vmx, uint8_t channel)
	Constructs the DigitalOutputROS object on a specified output channel index. More...

bool	Ping (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
	Initiates a timed ultrasonic pulse on a DigitalIO Resource in Digital Output Mode in 0.1 second intervals. More...

bool	SetDuration (vmxpi_ros::Int::Request &req, vmxpi_ros::Int::Response &res)
	Sets the duration of the ping signal. More...

Public Member Functions inherited from Utils
void	DisplayVMXError (VMXErrorCode vmxerr)
	Displays the VMXError. More...

Constructor & Destructor Documentation

◆ DigitalOutputROS()

DigitalOutputROS::DigitalOutputROS	(	ros::NodeHandle *	nh,
		VMXPi *	vmx,
		uint8_t	channel
	)

Constructs the DigitalOutputROS object on a specified output channel index.

Parameters

nh	Internal reference to the ROS node that the program will use to interact with the ROS system.
vmx	VMX-pi parameter used to initialize the VMX-pi HAL.
channel	Parameter to specify the output channel index.

Initiates a timed ultrasonic pulse on a DigitalIO Resource in Digital Output Mode in 0.1 second intervals.

Parameters

req	Empty request type defined in the ROS srv files.
res	Empty response type defined in the ROS srv files.

Returns: TRUE when an ultrasonic ping signal is sent in 100ms intervals, otherwise the error code is returned if the DIO Pulse was not initiated.

bool DigitalOutputROS::SetDuration	(	vmxpi_ros::Int::Request &	req,
		vmxpi_ros::Int::Response &	res
	)

Sets the duration of the ping signal.

Parameters

req	Integer request service type defined in the Int.srv file.
res	Integer response service type defined in the Int.srv file.

The documentation for this class was generated from the following files: