actarray
[Device proxies]
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... | |
Functions | |
| playerc_actarray_t * | playerc_actarray_create (playerc_client_t *client, int index) |
| Create an actarray proxy. | |
| void | playerc_actarray_destroy (playerc_actarray_t *device) |
| Destroy an actarray proxy. | |
| int | playerc_actarray_subscribe (playerc_actarray_t *device, int access) |
| Subscribe to the actarray device. | |
| int | playerc_actarray_unsubscribe (playerc_actarray_t *device) |
| Un-subscribe from the actarray device. | |
| int | playerc_actarray_get_geom (playerc_actarray_t *device) |
| Get the actarray geometry. | |
| 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. | |
| 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. | |
| 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. | |
| int | playerc_actarray_power (playerc_actarray_t *device, uint8_t enable) |
| Turn the power to the array on or off. | |
| 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. | |
| 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. | |
Function Documentation
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Get the actarray geometry. The writes the result into the proxy rather than returning it to the caller. |
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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). |