actarray
[Device proxies]
Collaboration diagram for actarray:
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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_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. | |
| player_actarray_actuator_t | playerc_actarray_get_actuator_data (playerc_actarray_t *device, int index) |
| Accessor method for the actuator data. | |
| player_actarray_actuatorgeom_t | playerc_actarray_get_actuator_geom (playerc_actarray_t *device, int index) |
| Accessor method for the actuator geom. | |
| 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_multi_position_cmd (playerc_actarray_t *device, float *positions, int positions_count) |
| Command all joints in the array to move to specified positions. | |
| 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_multi_speed_cmd (playerc_actarray_t *device, float *speeds, int speeds_count) |
| 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_current_cmd (playerc_actarray_t *device, int joint, float current) |
| Command a joint in the array to move with a specified current. | |
| 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. | |
| 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. | |
| int | playerc_actarray_accel_config (playerc_actarray_t *device, int joint, float accel) |
Function Documentation
| 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.
| 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).