actarray
Device proxies

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

## 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)

## 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.

## Function Documentation

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_EXPORT playerc_actarray_t* playerc_actarray_create | ( | playerc_client_t * | client,
|  | int | index
| ) |  |

Create an actarray proxy.

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_EXPORT void playerc_actarray_destroy | ( | playerc_actarray_t * | device | ) |

Destroy an actarray proxy.

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_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_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_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_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_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_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_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_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_EXPORT int playerc_actarray_subscribe | ( | playerc_actarray_t * | device,
|  | int | access
| ) |  |

Subscribe to the actarray device.

PLAYERC_EXPORT int playerc_actarray_unsubscribe | ( | playerc_actarray_t * | device | ) |

Un-subscribe from the actarray device.

Last updated 12 September 2005 21:38:45