actarray

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


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.

Classes

struct  playerc_actarray_t
 Actarray device data. More...

Defines

#define PLAYERC_ACTARRAY_NUM_ACTUATORS   PLAYER_ACTARRAY_NUM_ACTUATORS
#define PLAYERC_ACTARRAY_ACTSTATE_IDLE   PLAYER_ACTARRAY_ACTSTATE_IDLE
#define PLAYERC_ACTARRAY_ACTSTATE_MOVING   PLAYER_ACTARRAY_ACTSTATE_MOVING
#define PLAYERC_ACTARRAY_ACTSTATE_BRAKED   PLAYER_ACTARRAY_ACTSTATE_BRAKED
#define PLAYERC_ACTARRAY_ACTSTATE_STALLED   PLAYER_ACTARRAY_ACTSTATE_STALLED
#define PLAYERC_ACTARRAY_TYPE_LINEAR   PLAYER_ACTARRAY_TYPE_LINEAR
#define PLAYERC_ACTARRAY_TYPE_ROTARY   PLAYER_ACTARRAY_TYPE_ROTARY

Functions

PLAYERC_EXPORT playerc_actarray_tplayerc_actarray_create (playerc_client_t *client, int index)
 Create an actarray proxy.
PLAYERC_EXPORT void playerc_actarray_destroy (playerc_actarray_t *device)
 Destroy an actarray proxy.
PLAYERC_EXPORT int playerc_actarray_subscribe (playerc_actarray_t *device, int access)
 Subscribe to the actarray device.
PLAYERC_EXPORT int playerc_actarray_unsubscribe (playerc_actarray_t *device)
 Un-subscribe from the actarray device.
PLAYERC_EXPORT
player_actarray_actuator_t 
playerc_actarray_get_actuator_data (playerc_actarray_t *device, uint32_t index)
 Accessor method for the actuator data.
PLAYERC_EXPORT
player_actarray_actuatorgeom_t 
playerc_actarray_get_actuator_geom (playerc_actarray_t *device, uint32_t index)
 Accessor method for the actuator geom.
PLAYERC_EXPORT int playerc_actarray_get_geom (playerc_actarray_t *device)
 Get the actarray geometry.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT int playerc_actarray_power (playerc_actarray_t *device, uint8_t enable)
 Turn the power to the array on or off.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT 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.
PLAYERC_EXPORT int playerc_actarray_accel_config (playerc_actarray_t *device, int joint, float accel)

Function Documentation

PLAYERC_EXPORT 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.

PLAYERC_EXPORT playerc_actarray_t* playerc_actarray_create ( playerc_client_t client,
int  index 
)

Create an actarray proxy.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT void playerc_actarray_destroy ( playerc_actarray_t device)

Destroy an actarray proxy.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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).

PLAYERC_EXPORT 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.

PLAYERC_EXPORT 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.

PLAYERC_EXPORT int playerc_actarray_subscribe ( playerc_actarray_t device,
int  access 
)

Subscribe to the actarray device.

PLAYERC_EXPORT int playerc_actarray_unsubscribe ( playerc_actarray_t device)

Un-subscribe from the actarray device.