EncoderSdoIndices.h

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// SPDX-FileCopyrightText: Generative Bionics
// SPDX-License-Identifier: BSD-3-Clause
 
#ifndef YARP_DEV_CIA402_ENCODER_SDO_INDICES_H
#define YARP_DEV_CIA402_ENCODER_SDO_INDICES_H
 
#include <cstdint>
 
namespace CiA402
{
 
/// @name Encoder SDO indices
/// @{
static constexpr uint16_t IDX_ENC1_CONFIG = 0x2110; ///< :03 = resolution (counts/rev)
static constexpr uint16_t IDX_ENC1_DATA = 0x2111;   ///< :01 = raw position, :02 = adjusted position
static constexpr uint16_t IDX_ENC2_CONFIG = 0x2112;  ///< :03 = resolution (counts/rev)
static constexpr uint16_t IDX_ENC2_DATA = 0x2113;    ///< :01 = raw position, :02 = adjusted position
/// @}
 
} // namespace CiA402
 
#endif // YARP_DEV_CIA402_ENCODER_SDO_INDICES_H