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<h1>position1d<br/>
<small>
[<a class="el" href="group__interfaces.html">Interface specifications</a>]</small>
</h1> </div>
</div>
<div class="contents">
<p>A 1-D linear actuator.
<a href="#_details">More...</a></p>
<table class="memberdecls">
<tr><td colspan="2"><p><a class="anchor" id="amgrpd41d8cd98f00b204e9800998ecf8427e"></a> </p>
<br/><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga90220f9a15eb658e3ca87f262b293d8a"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_GET_GEOM" ref="ga90220f9a15eb658e3ca87f262b293d8a" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga90220f9a15eb658e3ca87f262b293d8a">PLAYER_POSITION1D_REQ_GET_GEOM</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: get geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gafa4feb5b42ee910d50a1792e3c5e3fca"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_MOTOR_POWER" ref="gafa4feb5b42ee910d50a1792e3c5e3fca" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gafa4feb5b42ee910d50a1792e3c5e3fca">PLAYER_POSITION1D_REQ_MOTOR_POWER</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: motor power. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga26e6bc779aea7dc63dc8af12d5ae6985"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_VELOCITY_MODE" ref="ga26e6bc779aea7dc63dc8af12d5ae6985" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga26e6bc779aea7dc63dc8af12d5ae6985">PLAYER_POSITION1D_REQ_VELOCITY_MODE</a> 3</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: velocity mode. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gacbecc6ad3ffdae8979aedc9dd4b16944"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_POSITION_MODE" ref="gacbecc6ad3ffdae8979aedc9dd4b16944" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gacbecc6ad3ffdae8979aedc9dd4b16944">PLAYER_POSITION1D_REQ_POSITION_MODE</a> 4</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: position mode. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga973715e293fd6b5a0afd9feeecb8bb88"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_SET_ODOM" ref="ga973715e293fd6b5a0afd9feeecb8bb88" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga973715e293fd6b5a0afd9feeecb8bb88">PLAYER_POSITION1D_REQ_SET_ODOM</a> 5</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: set odometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gab7013fca965a57d2175a407d1881ae63"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_RESET_ODOM" ref="gab7013fca965a57d2175a407d1881ae63" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gab7013fca965a57d2175a407d1881ae63">PLAYER_POSITION1D_REQ_RESET_ODOM</a> 6</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: reset odometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga803fc09bad808566b672508895b9d5b4"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_SPEED_PID" ref="ga803fc09bad808566b672508895b9d5b4" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga803fc09bad808566b672508895b9d5b4">PLAYER_POSITION1D_REQ_SPEED_PID</a> 7</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: set speed PID params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga9ee365a68aa659176ae0c57b56a03477"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_POSITION_PID" ref="ga9ee365a68aa659176ae0c57b56a03477" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga9ee365a68aa659176ae0c57b56a03477">PLAYER_POSITION1D_REQ_POSITION_PID</a> 8</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: set position PID params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf17e488642f73c8f58acd2c8632230f0"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_REQ_SPEED_PROF" ref="gaf17e488642f73c8f58acd2c8632230f0" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gaf17e488642f73c8f58acd2c8632230f0">PLAYER_POSITION1D_REQ_SPEED_PROF</a> 9</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply subtype: set speed profile params. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gad3bac8b8ab9ed1b07831fc7ba4d3ec2d"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_DATA_STATE" ref="gad3bac8b8ab9ed1b07831fc7ba4d3ec2d" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gad3bac8b8ab9ed1b07831fc7ba4d3ec2d">PLAYER_POSITION1D_DATA_STATE</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data subtype: state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga82f5845a010b7d92ef544f82183715a3"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_DATA_GEOM" ref="ga82f5845a010b7d92ef544f82183715a3" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga82f5845a010b7d92ef544f82183715a3">PLAYER_POSITION1D_DATA_GEOM</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data subtype: geometry. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4d526ee37e0f8263035051cb78945ffe"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_CMD_VEL" ref="ga4d526ee37e0f8263035051cb78945ffe" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga4d526ee37e0f8263035051cb78945ffe">PLAYER_POSITION1D_CMD_VEL</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command subtype: velocity command. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gab771c74be2ead0cd0e2ec4fd10de016e"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_CMD_POS" ref="gab771c74be2ead0cd0e2ec4fd10de016e" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gab771c74be2ead0cd0e2ec4fd10de016e">PLAYER_POSITION1D_CMD_POS</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command subtype: position command. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga020b852a00c9f9eae9bc92ed64937fd5"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_LIMIT_MIN" ref="ga020b852a00c9f9eae9bc92ed64937fd5" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga020b852a00c9f9eae9bc92ed64937fd5">PLAYER_POSITION1D_STATUS_LIMIT_MIN</a> 0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: limit min. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga40fa64dc5b2e009cf9a24aaf1331e0c9"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_LIMIT_CEN" ref="ga40fa64dc5b2e009cf9a24aaf1331e0c9" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga40fa64dc5b2e009cf9a24aaf1331e0c9">PLAYER_POSITION1D_STATUS_LIMIT_CEN</a> 1</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: limit center. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gaf79b18986853aedc5db2d8c9faa05db5"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_LIMIT_MAX" ref="gaf79b18986853aedc5db2d8c9faa05db5" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gaf79b18986853aedc5db2d8c9faa05db5">PLAYER_POSITION1D_STATUS_LIMIT_MAX</a> 2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: limit max. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gafa79efa54e764cc19aad9612bddbd51d"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_OC" ref="gafa79efa54e764cc19aad9612bddbd51d" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gafa79efa54e764cc19aad9612bddbd51d">PLAYER_POSITION1D_STATUS_OC</a> 3</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: limit over current. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga2b3192e0f6b369b9f7af65d73dcfb01f"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE" ref="ga2b3192e0f6b369b9f7af65d73dcfb01f" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga2b3192e0f6b369b9f7af65d73dcfb01f">PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE</a> 4</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: limit trajectory complete. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga55200437c4b04fc860d748932032401a"></a><!-- doxytag: member="interface_position1d::PLAYER_POSITION1D_STATUS_ENABLED" ref="ga55200437c4b04fc860d748932032401a" args="" -->
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga55200437c4b04fc860d748932032401a">PLAYER_POSITION1D_STATUS_ENABLED</a> 5</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status byte: enabled. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__data.html">player_position1d_data</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga6ee49bcd44494f599a74b0711881c59b">player_position1d_data_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data: state (<a class="el" href="group__interface__position1d.html#gad3bac8b8ab9ed1b07831fc7ba4d3ec2d">PLAYER_POSITION1D_DATA_STATE</a>). <a href="#ga6ee49bcd44494f599a74b0711881c59b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__cmd__vel.html">player_position1d_cmd_vel</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga86a1680e2038827769720a9283c1f9e8">player_position1d_cmd_vel_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: state (<a class="el" href="group__interface__position1d.html#ga4d526ee37e0f8263035051cb78945ffe">PLAYER_POSITION1D_CMD_VEL</a>). <a href="#ga86a1680e2038827769720a9283c1f9e8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__cmd__pos.html">player_position1d_cmd_pos</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gaa5eed9b9e7c5169c7b1a10a6e211abdb">player_position1d_cmd_pos_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Command: state (<a class="el" href="group__interface__position1d.html#gab771c74be2ead0cd0e2ec4fd10de016e">PLAYER_POSITION1D_CMD_POS</a>). <a href="#gaa5eed9b9e7c5169c7b1a10a6e211abdb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__geom.html">player_position1d_geom</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga7b8b3e6167d9a5de82c8f6cb96b0559f">player_position1d_geom_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Query geometry. <a href="#ga7b8b3e6167d9a5de82c8f6cb96b0559f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__power__config.html">player_position1d_power_config</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga2ca835af9eb65b2395f3b7e1d536072e">player_position1d_power_config_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Motor power. <a href="#ga2ca835af9eb65b2395f3b7e1d536072e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__velocity__mode__config.html">player_position1d_velocity_mode_config</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gaee1b5d5e76477d07bf23a8dac827570f">player_position1d_velocity_mode_config_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Change velocity control. <a href="#gaee1b5d5e76477d07bf23a8dac827570f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__reset__odom__config.html">player_position1d_reset_odom_config</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga69819e45389461098856eef3afa70094">player_position1d_reset_odom_config_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Reset odometry. <a href="#ga69819e45389461098856eef3afa70094"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__position__mode__req.html">player_position1d_position_mode_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga9ff146c53bc68f09945f2a427d00ca72">player_position1d_position_mode_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Change control mode. <a href="#ga9ff146c53bc68f09945f2a427d00ca72"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__set__odom__req.html">player_position1d_set_odom_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga944a2c5b184bb3d9448ce4e77242e0a3">player_position1d_set_odom_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Set odometry. <a href="#ga944a2c5b184bb3d9448ce4e77242e0a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__speed__pid__req.html">player_position1d_speed_pid_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga7e6a70940f8a24d9f95ded1fe49bd880">player_position1d_speed_pid_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Set velocity PID parameters. <a href="#ga7e6a70940f8a24d9f95ded1fe49bd880"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__position__pid__req.html">player_position1d_position_pid_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#ga979004b7f509b602e12ce9bcec9ad558">player_position1d_position_pid_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Set position PID parameters. <a href="#ga979004b7f509b602e12ce9bcec9ad558"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef struct <br class="typebreak"/>
<a class="el" href="structplayer__position1d__speed__prof__req.html">player_position1d_speed_prof_req</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__interface__position1d.html#gaaf3c05a9e9ac1b88d0871e9834508918">player_position1d_speed_prof_req_t</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Request/reply: Set linear speed profile parameters. <a href="#gaaf3c05a9e9ac1b88d0871e9834508918"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A 1-D linear actuator. </p>
<p>The <code>position1d</code> interface is used to control linear actuators </p>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="gaa5eed9b9e7c5169c7b1a10a6e211abdb"></a><!-- doxytag: member="player_interfaces.h::player_position1d_cmd_pos_t" ref="gaa5eed9b9e7c5169c7b1a10a6e211abdb" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__cmd__pos.html">player_position1d_cmd_pos</a> <a class="el" href="structplayer__position1d__cmd__pos.html">player_position1d_cmd_pos_t</a></td>
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<p>Command: state (<a class="el" href="group__interface__position1d.html#gab771c74be2ead0cd0e2ec4fd10de016e">PLAYER_POSITION1D_CMD_POS</a>). </p>
<p>The <code>position1d</code> interface accepts new positions for the robot's motors (drivers may support position control, speed control, or both). </p>
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<a class="anchor" id="ga86a1680e2038827769720a9283c1f9e8"></a><!-- doxytag: member="player_interfaces.h::player_position1d_cmd_vel_t" ref="ga86a1680e2038827769720a9283c1f9e8" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__cmd__vel.html">player_position1d_cmd_vel</a> <a class="el" href="structplayer__position1d__cmd__vel.html">player_position1d_cmd_vel_t</a></td>
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<p>Command: state (<a class="el" href="group__interface__position1d.html#ga4d526ee37e0f8263035051cb78945ffe">PLAYER_POSITION1D_CMD_VEL</a>). </p>
<p>The <code>position1d</code> interface accepts new velocities for the robot's motors (drivers may support position control, speed control, or both). </p>
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<a class="anchor" id="ga6ee49bcd44494f599a74b0711881c59b"></a><!-- doxytag: member="player_interfaces.h::player_position1d_data_t" ref="ga6ee49bcd44494f599a74b0711881c59b" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__data.html">player_position1d_data</a> <a class="el" href="structplayer__position1d__data.html">player_position1d_data_t</a></td>
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<p>Data: state (<a class="el" href="group__interface__position1d.html#gad3bac8b8ab9ed1b07831fc7ba4d3ec2d">PLAYER_POSITION1D_DATA_STATE</a>). </p>
<p>The <code>position</code> interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information. </p>
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<a class="anchor" id="ga7b8b3e6167d9a5de82c8f6cb96b0559f"></a><!-- doxytag: member="player_interfaces.h::player_position1d_geom_t" ref="ga7b8b3e6167d9a5de82c8f6cb96b0559f" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__geom.html">player_position1d_geom</a> <a class="el" href="structplayer__position1d__geom.html">player_position1d_geom_t</a></td>
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<p>Request/reply: Query geometry. </p>
<p>To request robot geometry, send a null <a class="el" href="group__interface__position1d.html#ga90220f9a15eb658e3ca87f262b293d8a">PLAYER_POSITION1D_REQ_GET_GEOM</a>. </p>
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<a class="anchor" id="ga9ff146c53bc68f09945f2a427d00ca72"></a><!-- doxytag: member="player_interfaces.h::player_position1d_position_mode_req_t" ref="ga9ff146c53bc68f09945f2a427d00ca72" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__position__mode__req.html">player_position1d_position_mode_req</a> <a class="el" href="structplayer__position1d__position__mode__req.html">player_position1d_position_mode_req_t</a></td>
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<p>Request/reply: Change control mode. </p>
<p>To change the control mode, send a <a class="el" href="group__interface__position1d.html#gacbecc6ad3ffdae8979aedc9dd4b16944">PLAYER_POSITION1D_REQ_POSITION_MODE</a> reqeust. Null response. </p>
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<a class="anchor" id="ga979004b7f509b602e12ce9bcec9ad558"></a><!-- doxytag: member="player_interfaces.h::player_position1d_position_pid_req_t" ref="ga979004b7f509b602e12ce9bcec9ad558" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__position__pid__req.html">player_position1d_position_pid_req</a> <a class="el" href="structplayer__position1d__position__pid__req.html">player_position1d_position_pid_req_t</a></td>
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<p>Request/reply: Set position PID parameters. </p>
<p>To set position PID parameters, send a <a class="el" href="group__interface__position1d.html#ga9ee365a68aa659176ae0c57b56a03477">PLAYER_POSITION1D_REQ_POSITION_PID</a> request. Null response. </p>
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<a class="anchor" id="ga2ca835af9eb65b2395f3b7e1d536072e"></a><!-- doxytag: member="player_interfaces.h::player_position1d_power_config_t" ref="ga2ca835af9eb65b2395f3b7e1d536072e" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__power__config.html">player_position1d_power_config</a> <a class="el" href="structplayer__position1d__power__config.html">player_position1d_power_config_t</a></td>
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<p>Request/reply: Motor power. </p>
<p>On some robots, the motor power can be turned on and off from software. To do so, send a <a class="el" href="group__interface__position1d.html#gafa4feb5b42ee910d50a1792e3c5e3fca">PLAYER_POSITION1D_REQ_MOTOR_POWER</a> request with the format given below, and with the appropriate <code>state</code> (zero for motors off and non-zero for motors on). Null response.</p>
<p>Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached. </p>
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<a class="anchor" id="ga69819e45389461098856eef3afa70094"></a><!-- doxytag: member="player_interfaces.h::player_position1d_reset_odom_config_t" ref="ga69819e45389461098856eef3afa70094" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__reset__odom__config.html">player_position1d_reset_odom_config</a> <a class="el" href="structplayer__position1d__reset__odom__config.html">player_position1d_reset_odom_config_t</a></td>
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<p>Request/reply: Reset odometry. </p>
<p>To reset the robot's odometry to x = 0, send a <a class="el" href="group__interface__position1d.html#gab7013fca965a57d2175a407d1881ae63">PLAYER_POSITION1D_REQ_RESET_ODOM</a> request. Null response. </p>
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<a class="anchor" id="ga944a2c5b184bb3d9448ce4e77242e0a3"></a><!-- doxytag: member="player_interfaces.h::player_position1d_set_odom_req_t" ref="ga944a2c5b184bb3d9448ce4e77242e0a3" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__set__odom__req.html">player_position1d_set_odom_req</a> <a class="el" href="structplayer__position1d__set__odom__req.html">player_position1d_set_odom_req_t</a></td>
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<p>Request/reply: Set odometry. </p>
<p>To set the robot's odometry to a particular state, send a <a class="el" href="group__interface__position1d.html#ga973715e293fd6b5a0afd9feeecb8bb88">PLAYER_POSITION1D_REQ_SET_ODOM</a> request. Null response. </p>
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<a class="anchor" id="ga7e6a70940f8a24d9f95ded1fe49bd880"></a><!-- doxytag: member="player_interfaces.h::player_position1d_speed_pid_req_t" ref="ga7e6a70940f8a24d9f95ded1fe49bd880" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__speed__pid__req.html">player_position1d_speed_pid_req</a> <a class="el" href="structplayer__position1d__speed__pid__req.html">player_position1d_speed_pid_req_t</a></td>
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<p>Request/reply: Set velocity PID parameters. </p>
<p>To set velocity PID parameters, send a <a class="el" href="group__interface__position1d.html#ga803fc09bad808566b672508895b9d5b4">PLAYER_POSITION1D_REQ_SPEED_PID</a> request. Null response. </p>
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<a class="anchor" id="gaaf3c05a9e9ac1b88d0871e9834508918"></a><!-- doxytag: member="player_interfaces.h::player_position1d_speed_prof_req_t" ref="gaaf3c05a9e9ac1b88d0871e9834508918" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__speed__prof__req.html">player_position1d_speed_prof_req</a> <a class="el" href="structplayer__position1d__speed__prof__req.html">player_position1d_speed_prof_req_t</a></td>
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<p>Request/reply: Set linear speed profile parameters. </p>
<p>To set linear speed profile parameters, send a <a class="el" href="group__interface__position1d.html#gaf17e488642f73c8f58acd2c8632230f0">PLAYER_POSITION1D_REQ_SPEED_PROF</a> requst. Null response. </p>
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<a class="anchor" id="gaee1b5d5e76477d07bf23a8dac827570f"></a><!-- doxytag: member="player_interfaces.h::player_position1d_velocity_mode_config_t" ref="gaee1b5d5e76477d07bf23a8dac827570f" args="" -->
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<td class="memname">typedef struct <a class="el" href="structplayer__position1d__velocity__mode__config.html">player_position1d_velocity_mode_config</a> <a class="el" href="structplayer__position1d__velocity__mode__config.html">player_position1d_velocity_mode_config_t</a></td>
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<p>Request/reply: Change velocity control. </p>
<p>Some robots offer different velocity control modes. It can be changed by sending a <a class="el" href="group__interface__position1d.html#ga26e6bc779aea7dc63dc8af12d5ae6985">PLAYER_POSITION1D_REQ_VELOCITY_MODE</a> request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the <code>position1d</code> device remains the same. Null response. </p>
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Last updated 12 September 2005 21:38:45
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