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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: Node Class Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>Node Class Reference</h1><!-- doxytag: class="Node" --><!-- doxytag: inherits="Thread,Receiver" --><p>Inheritance diagram for Node:<p><center><img src="classNode.png" usemap="#Node_map" border="0" alt=""></center><map name="Node_map"><area href="classThread.html" alt="Thread" shape="rect" coords="0,0,82,24"><area href="classReceiver.html" alt="Receiver" shape="rect" coords="92,0,174,24"><area href="classCopleyNode.html" alt="CopleyNode" shape="rect" coords="0,112,82,136"><area href="classIOModule.html" alt="IOModule" shape="rect" coords="92,112,174,136"><area href="classAmp.html" alt="Amp" shape="rect" coords="0,168,82,192"></map><a href="classNode-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>CANopen Node class. <p>Objects of this class represent individual nodes on the CANopen network.<p><p>Definition at line <a class="el" href="CML__Node_8h-source.html#l00137">137</a> of file <a class="el" href="CML__Node_8h-source.html">CML_Node.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a0">Node</a> ()</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Default CANopen node object constructor. <a href="#a0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a1">Node</a> (<a class="el" href="classCanOpen.html">CanOpen</a> &<a class="el" href="classReceiver.html#p0">co</a>, <a class="el" href="CML__Utils_8h.html#a7">int16</a> nodeID)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the CANopen Node object. <a href="#a1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a2"></a><!-- doxytag: member="Node::~Node" ref="a2" args="()" -->virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a2">~Node</a> ()</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">CANopen node destructor. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a3">StopGuarding</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Disable node guarding & heartbeat monitoring. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a4">StartHeartbeat</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> period, <a class="el" href="CML__Utils_8h.html#a8">uint16</a> timeout)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable heartbeat messages from this node, and start a thread to monitor them. <a href="#a4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a5">StartNodeGuard</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> guardTime, <a class="el" href="CML__Utils_8h.html#a2">byte</a> lifeFactor)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable node guarding on this node. <a href="#a5"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a6">Init</a> (<a class="el" href="classCanOpen.html">CanOpen</a> &<a class="el" href="classReceiver.html#p0">co</a>, <a class="el" href="CML__Utils_8h.html#a7">int16</a> nodeID)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the CANopen Node object. <a href="#a6"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a7">UnInit</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Un-initialize the Node object. <a href="#a7"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a8">PdoSet</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="el" href="classPDO.html">PDO</a> &pdo, bool enable=true)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Associate the passed <a class="el" href="classPDO.html">PDO</a> object with this node. <a href="#a8"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a9">PdoEnable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="el" href="classPDO.html">PDO</a> &pdo)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable the passed <a class="el" href="classPDO.html">PDO</a> object. <a href="#a9"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a10">PdoDisable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n, <a class="el" href="classPDO.html">PDO</a> &pdo)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Disable the passed <a class="el" href="classPDO.html">PDO</a> object. <a href="#a10"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a11">RpdoEnable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable the specified receive <a class="el" href="classPDO.html">PDO</a>. <a href="#a11"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a12">RpdoDisable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Disable the specified receive <a class="el" href="classPDO.html">PDO</a>. <a href="#a12"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a13">TpdoEnable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Enable the specified transmit <a class="el" href="classPDO.html">PDO</a>. <a href="#a13"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a14">TpdoDisable</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> n)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Disable the specified transmit <a class="el" href="classPDO.html">PDO</a>. <a href="#a14"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a15">StartNode</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Start this node. <a href="#a15"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a16">StopNode</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Stop this node. <a href="#a16"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a17">PreOpNode</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Put this node in pre-operational state. <a href="#a17"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a18">ResetNode</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Reset this node. <a href="#a18"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a19">ResetComm</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Reset this node's communications. <a href="#a19"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="CML__Node_8h.html#a9">NodeState</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a20">GetState</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the present state of this node. <a href="#a20"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a21">GetDeviceType</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> &devType)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the device type from the object dictionary. <a href="#a21"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a22">GetErrorRegister</a> (<a class="el" href="CML__Utils_8h.html#a2">byte</a> &err)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the error register from the object dictionary. <a href="#a22"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a23">GetMfgStatus</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> &stat)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the manufacturer status register from the object dictionary. <a href="#a23"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a24">GetErrorHistory</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> &ct, <a class="el" href="CML__Utils_8h.html#a10">uint32</a> *array)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the error history array (CANopen object 0x1003). <a href="#a24"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a25">ClearErrorHistory</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the error history (object 0x1003) array for this node. <a href="#a25"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a26">GetMfgDeviceName</a> (<a class="el" href="CML__Utils_8h.html#a9">int32</a> len, char *str)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the manufacturer's device name string from the object dictionary. <a href="#a26"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a27">GetMfgHardwareVer</a> (<a class="el" href="CML__Utils_8h.html#a9">int32</a> len, char *str)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the manufacturer's Hardware version string from the object dictionary. <a href="#a27"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a28">GetMfgSoftwareVer</a> (<a class="el" href="CML__Utils_8h.html#a9">int32</a> len, char *str)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Read the manufacturer's software version string from the object dictionary. <a href="#a28"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a29">GetIdentity</a> (<a class="el" href="structNodeIdentity.html">NodeIdentity</a> &id)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the CANopen identity object for this node (object dictionary entry 0x1018). <a href="#a29"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a30">SetSynchId</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> id)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Set the COB-ID of the synch message. <a href="#a30"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a31">GetSynchId</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> &id)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the COB-ID of the synch message. <a href="#a31"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a32">SetSynchPeriod</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> per)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Set the SYNC message interval in microseconds. <a href="#a32"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a33">GetSynchPeriod</a> (<a class="el" href="CML__Utils_8h.html#a10">uint32</a> &per)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the SYNC message interval in microseconds. <a href="#a33"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a34">SynchStart</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Start producing SYNC messages on this node. <a href="#a34"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a35">SynchStop</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Stop producing SYNC messages on this node. <a href="#a35"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a36">GetRpdoCobID</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> index)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the default COB ID value for the receive <a class="el" href="classPDO.html">PDO</a> with the specified index. <a href="#a36"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a37">GetTpdoCobID</a> (<a class="el" href="CML__Utils_8h.html#a8">uint16</a> index)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the default COB ID value for the transmit <a class="el" href="classPDO.html">PDO</a> with the specified index. <a href="#a37"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="CML__Utils_8h.html#a7">int16</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a38">GetNodeID</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Return the node ID associated with this node. <a href="#a38"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a39"></a><!-- doxytag: member="Node::NewFrame" ref="a39" args="(CanFrame &frame)" -->virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a39">NewFrame</a> (<a class="el" href="structCanFrame.html">CanFrame</a> &frame)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This method is called when a new node guarding / heartbeat message is received from the node. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#a40">run</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Node object watchdog thread. <a href="#a40"></a><br></td></tr><tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="o0"></a><!-- doxytag: member="Node::sdo" ref="o0" args="" --><a class="el" href="classSDO.html">SDO</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#o0">sdo</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This <a class="el" href="classSDO.html">SDO</a> may be used to get/set values in the node's object dictionary. <br></td></tr><tr><td colspan="2"><br><h2>Protected Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b0"></a><!-- doxytag: member="Node::HandleEmergency" ref="b0" args="(CanFrame &frame)" -->virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#b0">HandleEmergency</a> (<a class="el" href="structCanFrame.html">CanFrame</a> &frame)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Overload this function to handle emergency objects sent by this node. <br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#b1">HandleStateChange</a> (<a class="el" href="CML__Node_8h.html#a9">NodeState</a> from, <a class="el" href="CML__Node_8h.html#a9">NodeState</a> to)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Overload this function to handle changes to the nodes state. <a href="#b1"></a><br></td></tr><tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="el" href="CML__Utils_8h.html#a9">int32</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#p0">stateChangeDelay</a></td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Delay to use when changing modes. <a href="#p0"></a><br></td></tr><tr><td colspan="2"><br><h2>Friends</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="n0"></a><!-- doxytag: member="Node::NodeEmcyRcvr" ref="n0" args="" -->class </td><td class="memItemRight" valign="bottom"><a class="el" href="classNode.html#n0">NodeEmcyRcvr</a></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a class="anchor" name="a0"></a><!-- doxytag: member="Node::Node" ref="a0" args="()" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="classNode.html">Node</a> </td> <td class="md" valign="top">( </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Default CANopen node object constructor. <p>This constructor simple marks the object as uninitialized. The <a class="el" href="classNode.html#a6">Init()</a> function must be called before this object can be used.<p>Definition at line <a class="el" href="Node_8cpp-source.html#l00071">71</a> of file <a class="el" href="Node_8cpp-source.html">Node.cpp</a>. </td> </tr></table><a class="anchor" name="a1"></a><!-- doxytag: member="Node::Node" ref="a1" args="(CanOpen &co, int16 nodeID)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"><a class="el" href="classNode.html">Node</a> </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="classCanOpen.html">CanOpen</a> & </td> <td class="mdname" nowrap> <em>canOpen</em>, </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a7">int16</a> </td> <td class="mdname" nowrap> <em>nodeID</em></td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Initialize the CANopen Node object. <p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>canOpen</em> </td><td>The CANopen network object that this node is associated with. </td></tr> <tr><td valign="top"></td><td valign="top"><em>nodeID</em> </td><td>The node's ID. This must range from 1 to 127 for the node to be successfully initialized.</td></tr> </table></dl>⌨️ 快捷键说明
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