actarray
Interface specifications

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) More...
typedef struct player_actarray_actuatorgeom | player_actarray_actuatorgeom_t
| Actuator geometry.
typedef struct player_actarray_geom | player_actarray_geom_t
| Request/reply: get geometry. More...
typedef struct player_actarray_position_cmd | player_actarray_position_cmd_t
| Command: Joint position control (PLAYER_ACTARRAY_CMD_POS) More...
typedef struct player_actarray_multi_position_cmd | player_actarray_multi_position_cmd_t
| Command: Multiple Joint position control (PLAYER_ACTARRAY_CMD_MULTI_POS) More...
typedef struct player_actarray_speed_cmd | player_actarray_speed_cmd_t
| Command: Joint speed control (PLAYER_ACTARRAY_CMD_SPEED) More...
typedef struct player_actarray_multi_speed_cmd | player_actarray_multi_speed_cmd_t
| Command: Multiple Joint speed control (PLAYER_ACTARRAY_CMD_MULTI_SPEED) More...
typedef struct player_actarray_home_cmd | player_actarray_home_cmd_t
| Command: Joint home (PLAYER_CMD_ACTARRAY_HOME) More...
typedef struct player_actarray_current_cmd | player_actarray_current_cmd_t
| Command: Joint current control (PLAYER_ACTARRAY_CMD_CURRENT) More...
typedef struct player_actarray_multi_current_cmd | player_actarray_multi_current_cmd_t
| Command: Multiple Joint current control (PLAYER_ACTARRAY_CMD_MULTI_CURRENT) More...
typedef struct player_actarray_power_config | player_actarray_power_config_t
| Request/reply: Power. More...
typedef struct player_actarray_brakes_config | player_actarray_brakes_config_t
| Request/reply: Brakes. More...
typedef struct player_actarray_speed_config | player_actarray_speed_config_t
| Request/reply: Speed. More...
typedef struct player_actarray_accel_config | player_actarray_accel_config_t
| Request/reply: Acceleration. More...

## Detailed Description

An array of actuators.

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

## 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.

Last updated 12 September 2005 21:38:45