actarray

An array of actuators. More...

#define	PLAYER_ACTARRAY_REQ_POWER   1
	Idle state code.
#define	PLAYER_ACTARRAY_REQ_BRAKES   2
	Idle state code.
#define	PLAYER_ACTARRAY_REQ_GET_GEOM   3
	Idle state code.
#define	PLAYER_ACTARRAY_REQ_SPEED   4
	Idle state code.
#define	PLAYER_ACTARRAY_REQ_ACCEL   5
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_POS   1
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_MULTI_POS   2
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_SPEED   3
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_MULTI_SPEED   4
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_HOME   5
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_CURRENT   6
	Idle state code.
#define	PLAYER_ACTARRAY_CMD_MULTI_CURRENT   7
	Idle state code.
#define	PLAYER_ACTARRAY_DATA_STATE   1
	Idle state code.
#define	PLAYER_ACTARRAY_ACTSTATE_IDLE   1
	Idle state code.
#define	PLAYER_ACTARRAY_ACTSTATE_MOVING   2
	Moving state code.
#define	PLAYER_ACTARRAY_ACTSTATE_BRAKED   4
	Braked state code.
#define	PLAYER_ACTARRAY_ACTSTATE_STALLED   8
	Stalled state code.
#define	PLAYER_ACTARRAY_TYPE_LINEAR   1
	Linear type code.
#define	PLAYER_ACTARRAY_TYPE_ROTARY   2
	Rotary type code.
typedef struct player_actarray_actuator	player_actarray_actuator_t
	Structure containing a single actuator's information.
typedef struct player_actarray_data	player_actarray_data_t
	Data: state (PLAYER_ACTARRAY_DATA_STATE)
typedef struct player_actarray_actuatorgeom	player_actarray_actuatorgeom_t
	Actuator geometry.
typedef struct player_actarray_geom	player_actarray_geom_t
	Request/reply: get geometry.
typedef struct player_actarray_position_cmd	player_actarray_position_cmd_t
	Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)
typedef struct player_actarray_multi_position_cmd	player_actarray_multi_position_cmd_t
	Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)
typedef struct player_actarray_speed_cmd	player_actarray_speed_cmd_t
	Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)
typedef struct player_actarray_multi_speed_cmd	player_actarray_multi_speed_cmd_t
	Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)
typedef struct player_actarray_home_cmd	player_actarray_home_cmd_t
	Command: Joint home (PLAYER_CMD_ACTARRAY_HOME)
typedef struct player_actarray_current_cmd	player_actarray_current_cmd_t
	Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)
typedef struct player_actarray_multi_current_cmd	player_actarray_multi_current_cmd_t
	Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)
typedef struct player_actarray_power_config	player_actarray_power_config_t
	Request/reply: Power.
typedef struct player_actarray_brakes_config	player_actarray_brakes_config_t
	Request/reply: Brakes.
typedef struct player_actarray_speed_config	player_actarray_speed_config_t
	Request/reply: Speed.
typedef struct player_actarray_accel_config	player_actarray_accel_config_t
	Request/reply: Acceleration.

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Detailed Description

An array of actuators.

The actuator array interface provides access to an array of actuators.

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Typedef Documentation

typedef struct player_actarray_accel_config player_actarray_accel_config_t

Request/reply: Acceleration.

Send a PLAYER_ACTARRAY_REQ_ACCEL request to set the acceleration of a joint for all subsequent movements. Null response.

typedef struct player_actarray_brakes_config player_actarray_brakes_config_t

Request/reply: Brakes.

Send a PLAYER_ACTARRAY_REQ_BRAKES request to turn the brakes of all actuators in the array (that have them) on or off. Null response.

typedef struct player_actarray_current_cmd player_actarray_current_cmd_t

Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT)

Tells a joint/actuator to attempt to move with the given current.

typedef struct player_actarray_data player_actarray_data_t

Data: state (PLAYER_ACTARRAY_DATA_STATE)

The actuator array data packet.

typedef struct player_actarray_geom player_actarray_geom_t

Request/reply: get geometry.

Send a null PLAYER_ACTARRAY_REQ_GET_GEOM request to receive the geometry in this form.

typedef struct player_actarray_home_cmd player_actarray_home_cmd_t

Command: Joint home (PLAYER_CMD_ACTARRAY_HOME)

Tells a joint/actuator (or the whole array) to go to home position.

typedef struct player_actarray_multi_current_cmd player_actarray_multi_current_cmd_t

Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT)

Tells all joints/actuators to attempt to move with the given current.

typedef struct player_actarray_multi_position_cmd player_actarray_multi_position_cmd_t

Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS)

Tells all joints/actuators to attempt to move to the given positions.

typedef struct player_actarray_multi_speed_cmd player_actarray_multi_speed_cmd_t

Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED)

Tells all joints/actuators to attempt to move with the given velocities.

typedef struct player_actarray_position_cmd player_actarray_position_cmd_t

Command: Joint position control (PLAYER_ACTARRAY_CMD_POS)

Tells a joint/actuator to attempt to move to a requested position.

typedef struct player_actarray_power_config player_actarray_power_config_t

Request/reply: Power.

Send a PLAYER_ACTARRAY_REQ_POWER request to turn the power to all actuators in 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). Null response.

typedef struct player_actarray_speed_cmd player_actarray_speed_cmd_t

Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED)

Tells a joint/actuator to attempt to move with the given speed.

typedef struct player_actarray_speed_config player_actarray_speed_config_t

Request/reply: Speed.

Send a PLAYER_ACTARRAY_REQ_SPEED request to set the speed of a joint for all subsequent movements. Null response.