actarray
[Interface specifications]
An array of actuators.
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Detailed Description
An array of actuators.The actuator array interface provides access to an array of actuators.
Typedef Documentation
typedef struct player_actarray_brakes_config player_actarray_brakes_config_t |
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.
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_GET_GEOM_REQ request to receive the geometry in this form.
typedef struct player_actarray_home_cmd player_actarray_home_cmd_t |
Command: Joint home (PLAYER_ACTARRAY_HOME_CMD).
Tells a joint (or the whole array) to go to home position.
typedef struct player_actarray_position_cmd player_actarray_position_cmd_t |
Command: Joint position control (PLAYER_ACTARRAY_POS_CMD).
Tells a joint 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_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.
typedef struct player_actarray_speed_cmd player_actarray_speed_cmd_t |
Command: Joint speed control (PLAYER_ACTARRAY_SPEED_CMD).
Tells a joint to attempt to move at a requested speed.
typedef struct player_actarray_speed_config player_actarray_speed_config_t |
Request/reply: Speed.
Send a PLAYER_ACTARRAY_SPEED_REQ request to set the speed of a joint for all subsequent movements. Null response.