## repository: https://code.ros.org/svn/wg-ros-pkg
<<PackageHeader(pr2_hardware_interface)>>


== Hardware components ==

PR2ハードウェアインタフェースはロボットで動く[[ethercat_hardware|etherCAT link]]の上に制御されているPR2ハードウェアにC++抽象レイヤを提供します。たいていのユーザーが直接このインタフェースを取り扱う必要はありません。もしあなたがただロボットをコントロールすることに興味を持っただけであるなら、Jointは[[pr2_mechanism_model]]で直接やり取りするべきです。ただハードウェアへのダイレクトのアクセスを必要とする非常に先進的なユーザーだけがPR2ハードウェアインタフェースを使っているべきです。

 * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1HardwareInterface.html|Hardware Interface]]:''' The `HardwareInterface` class provides access to the PR2 hardware components that are controlled via EtherCAT. These components include:

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1Actuator.html|Actuators]]:''' the PR2 robot contains 32 actuators, and each actuator consists of a motor and an encoder. 

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1PressureSensor.html|Pressure sensors]]:''' the fingertips of the PR2 have pressure sensors that provide an array of force measurements.

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1Accelerometer.html|Accelerometers]]:''' the PR2 grippers contain 3 axis accelerometers. Instruction on communicating with these sensors in real-time can be found [[ethercat_hardware/Tutorials/GripperAccelerometer|here]].

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1DigitalOut.html|Digital out]]:''' The PR2's motor controller boards have one or more digital I/O pins. The digital I/Os can be used to control a variety of hardware such as a calibration LED or a camera trigger.

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1Projector.html|Projector]]:''' the PR2 head has a texture projector mounted on its head. The texture helps the stereo cameras to see objects that naturally have no texture. 

   * '''[[http://www.ros.org/doc/api/pr2_hardware_interface/html/classpr2__hardware__interface_1_1AnalogIn.html|AnalogIn]]:''' Some EtherCAT devices such as Beckhoff EL3064  represent inputs as array of analog values.

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