from ingenialink.ipb.servo import IPBServo
from .._ingenialink import lib, ffi
import ingenialogger
logger = ingenialogger.get_logger(__name__)
[docs]class EthercatServo(IPBServo):
"""Servo object for all the EtherCAT slave functionalities.
Args:
cffi_servo (CData): CData instance of the servo.
cffi_net (CData): CData instance of the network.
target (int): Target ID for the slave.
dictionary_path (str): Path to the dictionary.
"""
def __init__(self, cffi_servo, cffi_net, target, dictionary_path=None):
servo = ffi.gc(cffi_servo, lib.il_servo_fake_destroy)
super(EthercatServo, self).__init__(
servo, cffi_net, target, dictionary_path)