actarray
[Interface specifications]
Detailed Description
An array of actuators.The actuator array interface provides access to an array of actuators.
| #define | PLAYER_ACTARRAY_NUM_ACTUATORS 16 |
| Maximum number of actuators. | |
| #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 |
| Maximum number of actuators. | |
| typedef struct player_actarray_data | player_actarray_data_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_actuatorgeom | player_actarray_actuatorgeom_t |
| Maximum number of actuators. | |
| typedef struct player_actarray_geom | player_actarray_geom_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_position_cmd | player_actarray_position_cmd_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_speed_cmd | player_actarray_speed_cmd_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_home_cmd | player_actarray_home_cmd_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_power_config | player_actarray_power_config_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_brakes_config | player_actarray_brakes_config_t |
| Maximum number of actuators. | |
|
typedef struct player_actarray_speed_config | player_actarray_speed_config_t |
| Maximum number of actuators. |