An array of actuators. More...
An array of actuators.
The actuator array interface provides access to an array of actuators.
Send a PLAYER_ACTARRAY_REQ_ACCEL request to set the acceleration of a joint for all subsequent movements. Null response.
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.
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.