The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm. More...

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...

Macros
#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_EXPORT playerc_actarray_t *	playerc_actarray_create (playerc_client_t *client, int index)
	Create an actarray proxy. More...

PLAYERC_EXPORT void	playerc_actarray_destroy (playerc_actarray_t *device)
	Destroy an actarray proxy. More...

PLAYERC_EXPORT int	playerc_actarray_subscribe (playerc_actarray_t *device, int access)
	Subscribe to the actarray device. More...

PLAYERC_EXPORT int	playerc_actarray_unsubscribe (playerc_actarray_t *device)
	Un-subscribe from the actarray device. More...

PLAYERC_EXPORT player_actarray_actuator_t	playerc_actarray_get_actuator_data (playerc_actarray_t *device, uint32_t index)
	Accessor method for the actuator data.

PLAYERC_EXPORT player_actarray_actuatorgeom_t	playerc_actarray_get_actuator_geom (playerc_actarray_t *device, uint32_t index)
	Accessor method for the actuator geom.

PLAYERC_EXPORT int	playerc_actarray_get_geom (playerc_actarray_t *device)
	Get the actarray geometry. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT int	playerc_actarray_power (playerc_actarray_t *device, uint8_t enable)
	Turn the power to the array on or off. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT 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. More...

PLAYERC_EXPORT int	playerc_actarray_accel_config (playerc_actarray_t *device, int joint, float accel)

Function Documentation

◆ playerc_actarray_brakes()

PLAYERC_EXPORT 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.

◆ playerc_actarray_create()

PLAYERC_EXPORT playerc_actarray_t* playerc_actarray_create	(	playerc_client_t *	client,
		int	index
	)

Create an actarray proxy.

◆ playerc_actarray_current_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_destroy()

PLAYERC_EXPORT void playerc_actarray_destroy ( playerc_actarray_t * device )

Destroy an actarray proxy.

◆ playerc_actarray_get_geom()

PLAYERC_EXPORT 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.

◆ playerc_actarray_home_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_multi_current_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_multi_position_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_multi_speed_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_position_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_power()

PLAYERC_EXPORT 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).

◆ playerc_actarray_speed_cmd()

PLAYERC_EXPORT 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.

◆ playerc_actarray_speed_config()

PLAYERC_EXPORT 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.

◆ playerc_actarray_subscribe()

PLAYERC_EXPORT int playerc_actarray_subscribe	(	playerc_actarray_t *	device,
		int	access
	)

Subscribe to the actarray device.

◆ playerc_actarray_unsubscribe()

PLAYERC_EXPORT int playerc_actarray_unsubscribe ( playerc_actarray_t * device )

Un-subscribe from the actarray device.