actarray
[Device proxies]
The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm.
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Classes | |
struct | playerc_actarray_t |
Actarray device data. More... | |
Functions | |
playerc_actarray_t * | playerc_actarray_create (playerc_client_t *client, int index) |
Create an actarray proxy. | |
void | playerc_actarray_destroy (playerc_actarray_t *device) |
Destroy an actarray proxy. | |
int | playerc_actarray_subscribe (playerc_actarray_t *device, int access) |
Subscribe to the actarray device. | |
int | playerc_actarray_unsubscribe (playerc_actarray_t *device) |
Un-subscribe from the actarray device. | |
int | playerc_actarray_get_geom (playerc_actarray_t *device) |
Get the actarray geometry. | |
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. | |
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. | |
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. | |
int | playerc_actarray_power (playerc_actarray_t *device, uint8_t enable) |
Turn the power to the array on or off. | |
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. | |
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. |
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
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_actarray_t* playerc_actarray_create | ( | playerc_client_t * | client, | |
int | index | |||
) |
Create an actarray proxy.
void playerc_actarray_destroy | ( | playerc_actarray_t * | device | ) |
Destroy an actarray proxy.
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.
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.
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.
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).
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.
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.
int playerc_actarray_subscribe | ( | playerc_actarray_t * | device, | |
int | access | |||
) |
Subscribe to the actarray device.
int playerc_actarray_unsubscribe | ( | playerc_actarray_t * | device | ) |
Un-subscribe from the actarray device.