actarray

An array of actuators. More...


Detailed Description

An array of actuators.

The actuator array interface provides access to an array of actuators.

#define PLAYER_ACTARRAY_REQ_POWER   1
 Idle state code.
#define PLAYER_ACTARRAY_REQ_BRAKES   2
 Idle state code.
#define PLAYER_ACTARRAY_REQ_GET_GEOM   3
 Idle state code.
#define PLAYER_ACTARRAY_REQ_SPEED   4
 Idle state code.
#define PLAYER_ACTARRAY_REQ_ACCEL   5
 Idle state code.
#define PLAYER_ACTARRAY_CMD_POS   1
 Idle state code.
#define PLAYER_ACTARRAY_CMD_MULTI_POS   2
 Idle state code.
#define PLAYER_ACTARRAY_CMD_SPEED   3
 Idle state code.
#define PLAYER_ACTARRAY_CMD_MULTI_SPEED   4
 Idle state code.
#define PLAYER_ACTARRAY_CMD_HOME   5
 Idle state code.
#define PLAYER_ACTARRAY_CMD_CURRENT   6
 Idle state code.
#define PLAYER_ACTARRAY_CMD_MULTI_CURRENT   7
 Idle state code.
#define PLAYER_ACTARRAY_DATA_STATE   1
 Idle state code.
#define PLAYER_ACTARRAY_ACTSTATE_IDLE   1
 Idle state code.
#define PLAYER_ACTARRAY_ACTSTATE_MOVING   2
 Moving state code.
#define PLAYER_ACTARRAY_ACTSTATE_BRAKED   4
 Braked state code.
#define PLAYER_ACTARRAY_ACTSTATE_STALLED   8
 Stalled state code.
#define PLAYER_ACTARRAY_TYPE_LINEAR   1
 Linear type code.
#define PLAYER_ACTARRAY_TYPE_ROTARY   2
 Rotary type code.
typedef struct
player_actarray_actuator 
player_actarray_actuator_t
 Structure containing a single actuator's information.
typedef struct player_actarray_data player_actarray_data_t
 Data: state (PLAYER_ACTARRAY_DATA_STATE)
typedef struct
player_actarray_actuatorgeom 
player_actarray_actuatorgeom_t
 Actuator geometry.
typedef struct player_actarray_geom player_actarray_geom_t
 Request/reply: get geometry.
typedef struct
player_actarray_position_cmd 
player_actarray_position_cmd_t
 Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
typedef struct
player_actarray_multi_position_cmd 
player_actarray_multi_position_cmd_t
 Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
typedef struct
player_actarray_speed_cmd 
player_actarray_speed_cmd_t
 Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
typedef struct
player_actarray_multi_speed_cmd 
player_actarray_multi_speed_cmd_t
 Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
typedef struct
player_actarray_home_cmd 
player_actarray_home_cmd_t
 Command: Joint home (PLAYER_ACTARRAY_CMD_HOME)
typedef struct
player_actarray_current_cmd 
player_actarray_current_cmd_t
 Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
typedef struct
player_actarray_multi_current_cmd 
player_actarray_multi_current_cmd_t
 Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
typedef struct
player_actarray_power_config 
player_actarray_power_config_t
 Request/reply: Power.
typedef struct
player_actarray_brakes_config 
player_actarray_brakes_config_t
 Request/reply: Brakes.
typedef struct
player_actarray_speed_config 
player_actarray_speed_config_t
 Request/reply: Speed.
typedef struct
player_actarray_accel_config 
player_actarray_accel_config_t
 Request/reply: Acceleration.

Typedef Documentation

Request/reply: Acceleration.

Send a PLAYER_ACTARRAY_REQ_ACCEL request to set the acceleration of a joint for all subsequent movements. Null response.

Request/reply: Brakes.

Send a PLAYER_ACTARRAY_REQ_BRAKES request to turn the brakes of all actuators in the array (that have them) on or off. Null response.

Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)

Tells a joint/actuator to attempt to move with the given current.

Data: state (PLAYER_ACTARRAY_DATA_STATE)

The actuator array data packet.

Request/reply: get geometry.

Send a null PLAYER_ACTARRAY_REQ_GET_GEOM request to receive the geometry in this form.

Command: Joint home (PLAYER_ACTARRAY_CMD_HOME)

Tells a joint/actuator (or the whole array) to go to home position.

Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)

Tells all joints/actuators to attempt to move with the given current.

Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)

Tells all joints/actuators to attempt to move to the given positions.

Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)

Tells all joints/actuators to attempt to move with the given velocities.

Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)

Tells a joint/actuator to attempt to move to a requested position.

Request/reply: Power.

Send a PLAYER_ACTARRAY_REQ_POWER request to turn the power to all actuators in 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). Null response.

Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)

Tells a joint/actuator to attempt to move with the given speed.

Request/reply: Speed.

Send a PLAYER_ACTARRAY_REQ_SPEED request to set the speed of a joint for all subsequent movements. Null response.