Collaboration diagram for position1d:
Detailed DescriptionA 1-D linear actuator.
position1d interface is used to control linear actuators
Command: state (PLAYER_POSITION1D_CMD_POS).
position1d interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both).
Command: state (PLAYER_POSITION1D_CMD_VEL).
position1d interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both).
Data: state (PLAYER_POSITION1D_DATA_STATE).
position interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information.
Request/reply: Query geometry.
To request robot geometry, send a null PLAYER_POSITION1D_REQ_GET_GEOM.
Request/reply: Change control mode.
To change the control mode, send a PLAYER_POSITION1D_REQ_POSITION_MODE reqeust. Null response.
Request/reply: Set position PID parameters.
To set position PID parameters, send a PLAYER_POSITION1D_REQ_POSITION_PID request. Null response.
Request/reply: Motor power.
On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION1D_REQ_MOTOR_POWER request with the format given below, and with the appropriate
state (zero for motors off and non-zero for motors on). Null response.
Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.
Request/reply: Reset odometry.
To reset the robot's odometry to x = 0, send a PLAYER_POSITION1D_REQ_RESET_ODOM request. Null response.
Request/reply: Set odometry.
To set the robot's odometry to a particular state, send a PLAYER_POSITION1D_REQ_SET_ODOM request. Null response.
Request/reply: Set velocity PID parameters.
To set velocity PID parameters, send a PLAYER_POSITION1D_REQ_SPEED_PID request. Null response.
Request/reply: Set linear speed profile parameters.
To set linear speed profile parameters, send a PLAYER_POSITION1D_REQ_SPEED_PROF requst. Null response.
Request/reply: Change velocity control.
Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION1D_REQ_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the
position1d device remains the same. Null response.