position1d

The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator. More...

Detailed Description

The position1d proxy provides an interface to 1 DOF actuator such as a linear or rotational actuator.

Classes
struct	playerc_position1d_t
	Position1d device data. More...

Functions
PLAYERC_EXPORT playerc_position1d_t *	playerc_position1d_create (playerc_client_t *client, int index)
	Create a position1d device proxy. More...
PLAYERC_EXPORT void	playerc_position1d_destroy (playerc_position1d_t *device)
	Destroy a position1d device proxy. More...
PLAYERC_EXPORT int	playerc_position1d_subscribe (playerc_position1d_t *device, int access)
	Subscribe to the position1d device.
PLAYERC_EXPORT int	playerc_position1d_unsubscribe (playerc_position1d_t *device)
	Un-subscribe from the position1d device.
PLAYERC_EXPORT int	playerc_position1d_enable (playerc_position1d_t *device, int enable)
	Enable/disable the motors.
PLAYERC_EXPORT int	playerc_position1d_get_geom (playerc_position1d_t *device)
	Get the position1d geometry. More...
PLAYERC_EXPORT int	playerc_position1d_set_cmd_vel (playerc_position1d_t *device, double vel, int state)
	Set the target speed. More...
PLAYERC_EXPORT int	playerc_position1d_set_cmd_pos (playerc_position1d_t *device, double pos, int state)
	Set the target position. More...
PLAYERC_EXPORT int	playerc_position1d_set_cmd_pos_with_vel (playerc_position1d_t *device, double pos, double vel, int state)
	Set the target position with movement velocity -. More...
PLAYERC_EXPORT int	playerc_position1d_set_odom (playerc_position1d_t *device, double odom)
	Set the odometry offset.

Function Documentation

playerc_position1d_create()

PLAYERC_EXPORT playerc_position1d_t* playerc_position1d_create	(	playerc_client_t *	client,
		int	index
	)

Create a position1d device proxy.

playerc_position1d_destroy()

PLAYERC_EXPORT void playerc_position1d_destroy

(

playerc_position1d_t *

device

)

Destroy a position1d device proxy.

playerc_position1d_get_geom()

PLAYERC_EXPORT int playerc_position1d_get_geom

(

playerc_position1d_t *

device

)

Get the position1d geometry.

The writes the result into the proxy rather than returning it to the caller.

playerc_position1d_set_cmd_pos()

PLAYERC_EXPORT int playerc_position1d_set_cmd_pos	(	playerc_position1d_t *	device,
		double	pos,
		int	state
	)

Set the target position.

-

• pos The position to move to

playerc_position1d_set_cmd_pos_with_vel()

PLAYERC_EXPORT int playerc_position1d_set_cmd_pos_with_vel	(	playerc_position1d_t *	device,
		double	pos,
		double	vel,
		int	state
	)

Set the target position with movement velocity -.

• pos The position to move to -
• vel The speed at which to move to the position

playerc_position1d_set_cmd_vel()

PLAYERC_EXPORT int playerc_position1d_set_cmd_vel	(	playerc_position1d_t *	device,
		double	vel,
		int	state
	)

Set the target speed.