actarray
[Interface specifications]


Detailed Description

An array of actuatorsThe actuator array interface provides access to an array of actuators.

#define PLAYER_ACTARRAY_NUM_ACTUATORS   16
#define PLAYER_ACTARRAY_ACTSTATE_IDLE   1
 Idle state code.
#define PLAYER_ACTARRAY_ACTSTATE_MOVING   2
 Moving state code.
#define PLAYER_ACTARRAY_ACTSTATE_BRAKED   3
 Braked state code.
#define PLAYER_ACTARRAY_ACTSTATE_STALLED   4
 Stalled state code.
#define PLAYER_ACTARRAY_TYPE_LINEAR   1
 Linear type code.
#define PLAYER_ACTARRAY_TYPE_ROTARY   2
 Rotary type code.
#define PLAYER_ACTARRAY_POWER_REQ   1
 Request subtype: power.
#define PLAYER_ACTARRAY_BRAKES_REQ   2
 Request subtype: brakes.
#define PLAYER_ACTARRAY_GET_GEOM_REQ   3
 Request subtype: get geometry.
#define PLAYER_ACTARRAY_SPEED_REQ   4
 Request subtype: speed.
#define PLAYER_ACTARRAY_POS_CMD   1
 Command subtype: position.
#define PLAYER_ACTARRAY_SPEED_CMD   2
 Command subtype: speed.
#define PLAYER_ACTARRAY_HOME_CMD   3
 Command subtype: home.
#define PLAYER_ACTARRAY_DATA_STATE   1
 Data subtype: state.
typedef struct
player_actarray_actuator 
player_actarray_actuator_t
typedef struct
player_actarray_data 
player_actarray_data_t
typedef struct
player_actarray_actuatorgeom 
player_actarray_actuatorgeom_t
typedef struct
player_actarray_geom 
player_actarray_geom_t
typedef struct
player_actarray_position_cmd 
player_actarray_position_cmd_t
typedef struct
player_actarray_speed_cmd 
player_actarray_speed_cmd_t
typedef struct
player_actarray_home_cmd 
player_actarray_home_cmd_t
typedef struct
player_actarray_power_config 
player_actarray_power_config_t
typedef struct
player_actarray_brakes_config 
player_actarray_brakes_config_t
typedef struct
player_actarray_speed_config 
player_actarray_speed_config_t

Define Documentation

#define PLAYER_ACTARRAY_NUM_ACTUATORS   16

Maximum number of actuators


Typedef Documentation

Structure containing a single actuator's information

Actuator geometry

Request/reply: Brakes.

Send a PLAYER_ACTARRAY_BRAKES_REQ request to turn the brakes of all actuators in the array that have them on or off. Null response.

Data: state (PLAYER_ACTARRAY_DATA_STATE)The actuator array data packet.

Request/reply: get geometrySend a null PLAYER_ACTARRAY_GET_GEOM_REQ request to receive the geometry in this form.

Command: Joint home (PLAYER_ACTARRAY_HOME_CMD)Tells a joint (or the whole array) to go to home position.

Command: Joint position control (PLAYER_ACTARRAY_POS_CMD)Tells a joint to attempt to move to a requested position.

Request/reply: Power.

Send a PLAYER_ACTARRAY_POWER_REQ 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.

Command: Joint speed control (PLAYER_ACTARRAY_SPEED_CMD)Tells a joint to attempt to move at a requested speed.

Request/reply: Speed.

Send a PLAYER_ACTARRAY_SPEED_REQ request to set the speed of a joint for all subsequent movements. Null response.


Last updated 12 September 2005 21:38:45