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motor [Interfaces] Detailed Description The motor interface is used to control a single motor. Classes struct   player_motor_data   Data. More... struct   player_motor_cmd   Command. More... struct   player_motor_position_mode_req   Configuration request: Change position control. More... struct   player_motor_velocitymode_config   Configuration request: Change velocity control mode. More... struct   player_motor_resetodom_config   Configuration request: Reset odometry. More... struct   player_motor_set_odom_req   Configuration request: Set odometry. More... struct   player_motor_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_motor_position_pid_req   Configuration request: Set motor PID parameters. More... struct   player_motor_speed_prof_req   Configuration request: Set speed profile parameters. More... struct   player_motor_power_config   Configuration request: Motor power. More... Defines #define  PLAYER_MOTOR_POWER_REQ   ((uint8_t)2) #define  PLAYER_MOTOR_VELOCITY_MODE_REQ   ((uint8_t)3) #define  PLAYER_MOTOR_RESET_ODOM_REQ   ((uint8_t)4) #define  PLAYER_MOTOR_POSITION_MODE_REQ   ((uint8_t)5) #define  PLAYER_MOTOR_SPEED_PID_REQ   ((uint8_t)6) #define  PLAYER_MOTOR_POSITION_PID_REQ   ((uint8_t)7) #define  PLAYER_MOTOR_SPEED_PROF_REQ   ((uint8_t)8) #define  PLAYER_MOTOR_SET_ODOM_REQ   ((uint8_t)9) #define  PLAYER_MOTOR_SET_GEAR_REDUCITION_REQ   ((uint8_t)10) #define  PLAYER_MOTOR_SET_TICS_REQ   ((uint8_t)11) Typedefs typedef player_motor_data  player_motor_data_t   Data. typedef player_motor_cmd  player_motor_cmd_t   Command. typedef player_motor_position_mode_req  player_motor_position_mode_req_t   Configuration request: Change position control. typedef player_motor_velocitymode_config  player_motor_velocitymode_config_t   Configuration request: Change velocity control mode. typedef player_motor_resetodom_config  player_motor_resetodom_config_t   Configuration request: Reset odometry. typedef player_motor_set_odom_req  player_motor_set_odom_req_t   Configuration request: Set odometry. typedef player_motor_speed_pid_req  player_motor_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_motor_position_pid_req  player_motor_position_pid_req_t   Configuration request: Set motor PID parameters. typedef player_motor_speed_prof_req  player_motor_speed_prof_req_t   Configuration request: Set speed profile parameters. typedef player_motor_power_config  player_motor_power_config_t   Configuration request: Motor power. Define Documentation #define PLAYER_MOTOR_POWER_REQ   ((uint8_t)2) #define PLAYER_MOTOR_VELOCITY_MODE_REQ   ((uint8_t)3) #define PLAYER_MOTOR_RESET_ODOM_REQ   ((uint8_t)4) #define PLAYER_MOTOR_POSITION_MODE_REQ   ((uint8_t)5) #define PLAYER_MOTOR_SPEED_PID_REQ   ((uint8_t)6) #define PLAYER_MOTOR_POSITION_PID_REQ   ((uint8_t)7) #define PLAYER_MOTOR_SPEED_PROF_REQ   ((uint8_t)8) #define PLAYER_MOTOR_SET_ODOM_REQ   ((uint8_t)9) #define PLAYER_MOTOR_SET_GEAR_REDUCITION_REQ   ((uint8_t)10) #define PLAYER_MOTOR_SET_TICS_REQ   ((uint8_t)11) Typedef Documentation typedef struct player_motor_data player_motor_data_t   Data. The motor interface returns data regarding the position and velocity of the motor, as well as stall information. typedef struct player_motor_cmd player_motor_cmd_t   Command. The motor interface accepts new positions and/or velocities for the motors (drivers may support position control, speed control, or both). typedef struct player_motor_position_mode_req player_motor_position_mode_req_t   Configuration request: Change position control. typedef struct player_motor_velocitymode_config player_motor_velocitymode_config_t   Configuration request: Change velocity control mode. Some motors offer different velocity control modes. It can be changed by sending a request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the motor device remains the same. The server will reply with a zero-length acknowledgement. typedef struct player_motor_resetodom_config player_motor_resetodom_config_t   Configuration request: Reset odometry. To reset the motors's odometry to , use the following request. The server will reply with a zero-length acknowledgement. typedef struct player_motor_set_odom_req player_motor_set_odom_req_t   Configuration request: Set odometry. To set the motor's odometry to a particular state, use this request. typedef struct player_motor_speed_pid_req player_motor_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef struct player_motor_position_pid_req player_motor_position_pid_req_t   Configuration request: Set motor PID parameters. typedef struct player_motor_speed_prof_req player_motor_speed_prof_req_t   Configuration request: Set speed profile parameters. This is usefull in position control mode when you want to ramp your acceleration and deacceleration. typedef struct player_motor_power_config player_motor_power_config_t   Configuration request: Motor power. On some robots, the motor power can be turned on and off from software. To do so, send a request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). The server will reply with a zero-length acknowledgement. Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.