position1d
[Interface specifications]
Detailed Description
A 1-D linear actuator.
The position1d interface is used to control linear actuators
| #define | PLAYER_POSITION1D_REQ_GET_GEOM 1 |
| Request/reply subtype: get geometry. | |
| #define | PLAYER_POSITION1D_REQ_MOTOR_POWER 2 |
| Request/reply subtype: motor power. | |
| #define | PLAYER_POSITION1D_REQ_VELOCITY_MODE 3 |
| Request/reply subtype: velocity mode. | |
| #define | PLAYER_POSITION1D_REQ_POSITION_MODE 4 |
| Request/reply subtype: position mode. | |
| #define | PLAYER_POSITION1D_REQ_SET_ODOM 5 |
| Request/reply subtype: set odometry. | |
| #define | PLAYER_POSITION1D_REQ_RESET_ODOM 6 |
| Request/reply subtype: reset odometry. | |
| #define | PLAYER_POSITION1D_REQ_SPEED_PID 7 |
| Request/reply subtype: set speed PID params. | |
| #define | PLAYER_POSITION1D_REQ_POSITION_PID 8 |
| Request/reply subtype: set position PID params. | |
| #define | PLAYER_POSITION1D_REQ_SPEED_PROF 9 |
| Request/reply subtype: set speed profile params. | |
| #define | PLAYER_POSITION1D_DATA_STATE 1 |
| Data subtype: state. | |
| #define | PLAYER_POSITION1D_DATA_GEOM 2 |
| Data subtype: geometry. | |
| #define | PLAYER_POSITION1D_CMD_VEL 1 |
| Command subtype: velocity command. | |
| #define | PLAYER_POSITION1D_CMD_POS 2 |
| Command subtype: position command. | |
| #define | PLAYER_POSITION1D_STATUS_LIMIT_MIN 0 |
| Status byte: limit min. | |
| #define | PLAYER_POSITION1D_STATUS_LIMIT_CEN 1 |
| Status byte: limit center. | |
| #define | PLAYER_POSITION1D_STATUS_LIMIT_MAX 2 |
| Status byte: limit max. | |
| #define | PLAYER_POSITION1D_STATUS_OC 3 |
| Status byte: limit over current. | |
| #define | PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE 4 |
| Status byte: limit trajectory complete. | |
| #define | PLAYER_POSITION1D_STATUS_ENABLED 5 |
| Status byte: enabled. | |
|
typedef struct player_position1d_data | player_position1d_data_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_cmd_vel | player_position1d_cmd_vel_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_cmd_pos | player_position1d_cmd_pos_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_geom | player_position1d_geom_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_power_config | player_position1d_power_config_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_velocity_mode_config | player_position1d_velocity_mode_config_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_reset_odom_config | player_position1d_reset_odom_config_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_position_mode | player_position1d_position_mode_req_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_set_odom | player_position1d_set_odom_req_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_speed_pid | player_position1d_speed_pid_req_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_position_pid | player_position1d_position_pid_req_t |
| Request/reply subtype: get geometry. | |
|
typedef struct player_position1d_speed_prof | player_position1d_speed_prof_req_t |
| Request/reply subtype: get geometry. |