position1d

The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator. More...


Detailed Description

The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator.

Classes

struct  playerc_position1d_t
 Position1d device data. More...

Functions

PLAYERC_EXPORT
playerc_position1d_t
playerc_position1d_create (playerc_client_t *client, int index)
 Create a position1d device proxy.
PLAYERC_EXPORT void playerc_position1d_destroy (playerc_position1d_t *device)
 Destroy a position1d device proxy.
PLAYERC_EXPORT int playerc_position1d_subscribe (playerc_position1d_t *device, int access)
 Subscribe to the position1d device.
PLAYERC_EXPORT int playerc_position1d_unsubscribe (playerc_position1d_t *device)
 Un-subscribe from the position1d device.
PLAYERC_EXPORT int playerc_position1d_enable (playerc_position1d_t *device, int enable)
 Enable/disable the motors.
PLAYERC_EXPORT int playerc_position1d_get_geom (playerc_position1d_t *device)
 Get the position1d geometry.
PLAYERC_EXPORT int playerc_position1d_set_cmd_vel (playerc_position1d_t *device, double vel, int state)
 Set the target speed.
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos (playerc_position1d_t *device, double pos, int state)
 Set the target position.
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos_with_vel (playerc_position1d_t *device, double pos, double vel, int state)
 Set the target position with movement velocity.
PLAYERC_EXPORT int playerc_position1d_set_odom (playerc_position1d_t *device, double odom)
 Set the odometry offset.

Function Documentation

PLAYERC_EXPORT playerc_position1d_t* playerc_position1d_create ( playerc_client_t client,
int  index 
)

Create a position1d device proxy.

PLAYERC_EXPORT void playerc_position1d_destroy ( playerc_position1d_t device)

Destroy a position1d device proxy.

PLAYERC_EXPORT int playerc_position1d_get_geom ( playerc_position1d_t device)

Get the position1d geometry.

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

PLAYERC_EXPORT int playerc_position1d_set_cmd_pos ( playerc_position1d_t device,
double  pos,
int  state 
)

Set the target position.

-

  • pos The position to move to
PLAYERC_EXPORT int playerc_position1d_set_cmd_pos_with_vel ( playerc_position1d_t device,
double  pos,
double  vel,
int  state 
)

Set the target position with movement velocity.

-

  • pos The position to move to -
  • vel The speed at which to move to the position
PLAYERC_EXPORT int playerc_position1d_set_cmd_vel ( playerc_position1d_t device,
double  vel,
int  state 
)

Set the target speed.