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MotorProxy Class Reference [Proxies] #include <playerclient.h> Inherits ClientProxy. List of all members. Detailed Description The MotorProxy class is used to control a motor device. The latest motor data is contained in the attributes theta, thetaspeed, etc. Public Member Functions   MotorProxy (PlayerClient *pc, unsigned short index, unsigned char access='c') int  SetSpeed (double speed) int  GoTo (double angle) int  SetMotorState (unsigned char state) int  SelectVelocityControl (unsigned char mode) int  ResetOdometry () int  SetOdometry (double angle) int  SelectPositionMode (unsigned char mode) int  SetSpeedPID (double kp, double ki, double kd) int  SetPositionPID (double kp, double ki, double kd) int  SetPositionSpeedProfile (double spd, double acc) double  Theta () const   Accessor method. double  ThetaSpeed () const   Accessor method. unsigned char  Stall () const   Accessor method. void  FillData (player_msghdr_t hdr, const char *buffer) void  Print ()   Print current motor device state. Constructor & Destructor Documentation MotorProxy::MotorProxy (  PlayerClient *  pc, unsigned short  index, unsigned char  access = 'c' )  [inline]   Constructor. Leave the access field empty to start unconnected. Member Function Documentation int MotorProxy::SetSpeed (  double  speed  )    Send a motor command for velocity control mode. Specify the angular speeds in rad/s. Returns: 0 if everything's ok, -1 otherwise. int MotorProxy::GoTo (  double  angle  )    Send a motor command for position control mode. Specify the desired angle of the motor in radians. Returns: 0 if everything's ok, -1 otherwise. int MotorProxy::SetMotorState (  unsigned char  state  )    Enable/disable the motors. Set state to 0 to disable or 1 to enable. Be VERY careful with this method! Your robot is likely to run across the room with the charger still attached. Returns: 0 if everything's ok, -1 otherwise. int MotorProxy::SelectVelocityControl (  unsigned char  mode  )    Select velocity control mode. The motor state is typically device independent. This is where you can potentially choose between different types of control methods (PD, PID, etc) Returns: 0 if everything's ok, -1 otherwise. int MotorProxy::ResetOdometry (   )    Reset odometry to (0,0,0). Returns: 0 if everything's ok, -1 otherwise. int MotorProxy::SetOdometry (  double  angle  )    Sets the odometry to the pose (theta). Note that theta is in radians. Returns: 0 if OK, -1 else int MotorProxy::SelectPositionMode (  unsigned char  mode  )    Select position mode on the motor driver. Set mode for 0 for velocity mode, 1 for position mode. Returns: 0 if OK, -1 else int MotorProxy::SetSpeedPID (  double  kp, double  ki, double  kd )    Set the PID parameters of the motor for use in velocity control mode Returns: 0 if OK, -1 else int MotorProxy::SetPositionPID (  double  kp, double  ki, double  kd )    Set the PID parameters of the motor for use in position control mode Returns: 0 if OK, -1 else int MotorProxy::SetPositionSpeedProfile (  double  spd, double  acc )    Set the ramp profile of the motor when in position control mode spd is in rad/s and acc is in rad/s/s Returns: 0 if OK, -1 else double MotorProxy::Theta (   )  const [inline]   Accessor method. double MotorProxy::ThetaSpeed (   )  const [inline]   Accessor method. unsigned char MotorProxy::Stall (   )  const [inline]   Accessor method. void MotorProxy::FillData (  player_msghdr_t  hdr, const char *  buffer )  [virtual]   All proxies must provide this method. It is used internally to parse new data when it is received. Reimplemented from ClientProxy. void MotorProxy::Print (   )  [virtual]   Print current motor device state. Reimplemented from ClientProxy. The documentation for this class was generated from the following file: playerclient.h