actarray
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... | |
Functions | |
PLAYERC_EXPORT playerc_actarray_t * | playerc_actarray_create (playerc_client_t *client, int index) |
Create an actarray proxy. | |
PLAYERC_EXPORT void | playerc_actarray_destroy (playerc_actarray_t *device) |
Destroy an actarray proxy. | |
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. | |
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. | |
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_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_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_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_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_current_cmd (playerc_actarray_t *device, int joint, float current) |
Command a joint in the array to move with a specified current. | |
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_power (playerc_actarray_t *device, uint8_t enable) |
Turn the power to the array on or off. | |
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 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_accel_config (playerc_actarray_t *device, int joint, float accel) |
Function Documentation
◆ 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_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).