[Device proxies]

Collaboration diagram for actarray:

Detailed Description

The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm.

See the Player User Manual for a complete description of the drivers that support this interface.


struct  playerc_actarray_t
 Actarray device data. More...




playerc_actarray_tplayerc_actarray_create (playerc_client_t *client, int index)
 Create an actarray proxy.
void playerc_actarray_destroy (playerc_actarray_t *device)
 Destroy an actarray proxy.
int playerc_actarray_subscribe (playerc_actarray_t *device, int access)
 Subscribe to the actarray device.
int playerc_actarray_unsubscribe (playerc_actarray_t *device)
 Un-subscribe from the actarray device.
player_actarray_actuator_t playerc_actarray_get_actuator_data (playerc_actarray_t *device, int index)
 Accessor method for the actuator data.
player_actarray_actuatorgeom_t playerc_actarray_get_actuator_geom (playerc_actarray_t *device, int index)
 Accessor method for the actuator geom.
int playerc_actarray_get_geom (playerc_actarray_t *device)
 Get the actarray geometry.
int playerc_actarray_position_cmd (playerc_actarray_t *device, int joint, float position)
 Command a joint in the array to move to a specified position.
int playerc_actarray_multi_position_cmd (playerc_actarray_t *device, float *positions, int positions_count)
 Command all joints in the array to move to specified positions.
int playerc_actarray_speed_cmd (playerc_actarray_t *device, int joint, float speed)
 Command a joint in the array to move at a specified speed.
int playerc_actarray_multi_speed_cmd (playerc_actarray_t *device, float *speeds, int speeds_count)
 Command a joint in the array to move at a specified speed.
int playerc_actarray_home_cmd (playerc_actarray_t *device, int joint)
 Command a joint (or, if joint is -1, the whole array) to go to its home position.
int playerc_actarray_current_cmd (playerc_actarray_t *device, int joint, float current)
 Command a joint in the array to move with a specified current.
int playerc_actarray_multi_current_cmd (playerc_actarray_t *device, float *currents, int currents_count)
 Command all joints in the array to move with specified currents.
int playerc_actarray_power (playerc_actarray_t *device, uint8_t enable)
 Turn the power to the array on or off.
int playerc_actarray_brakes (playerc_actarray_t *device, uint8_t enable)
 Turn the brakes of all actuators in the array that have them on or off.
int playerc_actarray_speed_config (playerc_actarray_t *device, int joint, float speed)
 Set the speed of a joint (-1 for all joints) for all subsequent movement commands.
int playerc_actarray_accel_config (playerc_actarray_t *device, int joint, float accel)

Function Documentation

int playerc_actarray_get_geom ( playerc_actarray_t device  ) 

Get the actarray geometry.

The writes the result into the proxy rather than returning it to the caller.

int playerc_actarray_power ( playerc_actarray_t device,
uint8_t  enable 

Turn the power to the array on or off.

Be careful when turning power on that the array is not obstructed from its home position in case it moves to it (common behaviour).

Last updated 12 September 2005 21:38:45