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<div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="summary"> <a href="#nested-classes">Classes</a> | <a href="#define-members">Defines</a> | <a href="#func-members">Functions</a> </div> <div class="headertitle"> <h1>actarray<br/> <small> [<a class="el" href="group__playerc__proxies.html">Device proxies</a>]</small> </h1> </div> </div> <div class="contents"> <p>The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm. <a href="#_details">More...</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="nested-classes"></a> Classes</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Actarray device data. <a href="structplayerc__actarray__t.html#_details">More...</a><br/></td></tr> <tr><td colspan="2"><h2><a name="define-members"></a> Defines</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga18dbc912518add409767f913aafa5472"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_NUM_ACTUATORS" ref="ga18dbc912518add409767f913aafa5472" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_NUM_ACTUATORS</b> PLAYER_ACTARRAY_NUM_ACTUATORS</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga193f605e5e49bfb28ca7e770e5660eb5"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_ACTSTATE_IDLE" ref="ga193f605e5e49bfb28ca7e770e5660eb5" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_ACTSTATE_IDLE</b> PLAYER_ACTARRAY_ACTSTATE_IDLE</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga25202bf959e05b52c31854afcb7b5e70"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_ACTSTATE_MOVING" ref="ga25202bf959e05b52c31854afcb7b5e70" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_ACTSTATE_MOVING</b> PLAYER_ACTARRAY_ACTSTATE_MOVING</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga6ae97242b31ea31bc36d9699ed0b4559"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_ACTSTATE_BRAKED" ref="ga6ae97242b31ea31bc36d9699ed0b4559" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_ACTSTATE_BRAKED</b> PLAYER_ACTARRAY_ACTSTATE_BRAKED</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gabc92aad5dd0a7e64cf30348b76651acf"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_ACTSTATE_STALLED" ref="gabc92aad5dd0a7e64cf30348b76651acf" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_ACTSTATE_STALLED</b> PLAYER_ACTARRAY_ACTSTATE_STALLED</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga4c8c26cc12c0b0bd51b8452b0013057f"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_TYPE_LINEAR" ref="ga4c8c26cc12c0b0bd51b8452b0013057f" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_TYPE_LINEAR</b> PLAYER_ACTARRAY_TYPE_LINEAR</td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga93dd627c2a8844608202967f6af33664"></a><!-- doxytag: member="playerc_proxy_actarray::PLAYERC_ACTARRAY_TYPE_ROTARY" ref="ga93dd627c2a8844608202967f6af33664" args="" --> #define </td><td class="memItemRight" valign="bottom"><b>PLAYERC_ACTARRAY_TYPE_ROTARY</b> PLAYER_ACTARRAY_TYPE_ROTARY</td></tr> <tr><td colspan="2"><h2><a name="func-members"></a> Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT <a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga13ddf913c323b69054c12e427c8b9dde">playerc_actarray_create</a> (<a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> *client, int index)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Create an actarray proxy. <a href="#ga13ddf913c323b69054c12e427c8b9dde"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga510835fdaf7417c743e65b03e6a3ab4f">playerc_actarray_destroy</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Destroy an actarray proxy. <a href="#ga510835fdaf7417c743e65b03e6a3ab4f"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gadd8b3802e26796b9d87b6e95352725e1">playerc_actarray_subscribe</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int access)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Subscribe to the actarray device. <a href="#gadd8b3802e26796b9d87b6e95352725e1"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga07371bc26a70b3ed0c92c6597e3f5ec4">playerc_actarray_unsubscribe</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Un-subscribe from the actarray device. <a href="#ga07371bc26a70b3ed0c92c6597e3f5ec4"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga6976b932be216eec6afcce33376126ec"></a><!-- doxytag: member="playerc_proxy_actarray::playerc_actarray_get_actuator_data" ref="ga6976b932be216eec6afcce33376126ec" args="(playerc_actarray_t *device, uint32_t index)" --> PLAYERC_EXPORT <br class="typebreak"/> <a class="el" href="structplayer__actarray__actuator.html">player_actarray_actuator_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga6976b932be216eec6afcce33376126ec">playerc_actarray_get_actuator_data</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, uint32_t index)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Accessor method for the actuator data. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="gab35e877829ef9cef0705e7d4e06de14f"></a><!-- doxytag: member="playerc_proxy_actarray::playerc_actarray_get_actuator_geom" ref="gab35e877829ef9cef0705e7d4e06de14f" args="(playerc_actarray_t *device, uint32_t index)" --> PLAYERC_EXPORT <br class="typebreak"/> <a class="el" href="structplayer__actarray__actuatorgeom.html">player_actarray_actuatorgeom_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gab35e877829ef9cef0705e7d4e06de14f">playerc_actarray_get_actuator_geom</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, uint32_t index)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Accessor method for the actuator geom. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga555084e3d3cd1e5cf66fea45eceb4bf3">playerc_actarray_get_geom</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Get the actarray geometry. <a href="#ga555084e3d3cd1e5cf66fea45eceb4bf3"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga1b092f5903a4208a07574f674c145f65">playerc_actarray_position_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint, float position)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command a joint in the array to move to a specified position. <a href="#ga1b092f5903a4208a07574f674c145f65"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gad0c2942e138bbac65cd45e913e4ac441">playerc_actarray_multi_position_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, float *positions, int positions_count)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command all joints in the array to move to specified positions. <a href="#gad0c2942e138bbac65cd45e913e4ac441"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gabbeaa2f5825a6251f379733d4c48f526">playerc_actarray_speed_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint, float speed)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command a joint in the array to move at a specified speed. <a href="#gabbeaa2f5825a6251f379733d4c48f526"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gace6d2330ba5dc682890afbf625bcbea7">playerc_actarray_multi_speed_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, float *speeds, int speeds_count)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command a joint in the array to move at a specified speed. <a href="#gace6d2330ba5dc682890afbf625bcbea7"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gae7ae34590e605d46be5bb9ada6d332ce">playerc_actarray_home_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command a joint (or, if joint is -1, the whole array) to go to its home position. <a href="#gae7ae34590e605d46be5bb9ada6d332ce"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gab858ffefcc641ac9e31d45ef3f1661e5">playerc_actarray_current_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint, float current)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command a joint in the array to move with a specified current. <a href="#gab858ffefcc641ac9e31d45ef3f1661e5"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gab2d91f67d0c6fb9eb7e2c3663336cd8d">playerc_actarray_multi_current_cmd</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, float *currents, int currents_count)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Command all joints in the array to move with specified currents. <a href="#gab2d91f67d0c6fb9eb7e2c3663336cd8d"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga21d7e1c41c8e2472d06d4ed7ae45b9bc">playerc_actarray_power</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, uint8_t enable)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Turn the power to the array on or off. <a href="#ga21d7e1c41c8e2472d06d4ed7ae45b9bc"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#ga5baecc249de1a61ce73c89d96f5042b7">playerc_actarray_brakes</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, uint8_t enable)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Turn the brakes of all actuators in the array that have them on or off. <a href="#ga5baecc249de1a61ce73c89d96f5042b7"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><a class="el" href="group__playerc__proxy__actarray.html#gae2313db176ab775d17cfc3c5f3128615">playerc_actarray_speed_config</a> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint, float speed)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Set the speed of a joint (-1 for all joints) for all subsequent movement commands. <a href="#gae2313db176ab775d17cfc3c5f3128615"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ga63af48034b79f7648cb2466445c69cee"></a><!-- doxytag: member="playerc_proxy_actarray::playerc_actarray_accel_config" ref="ga63af48034b79f7648cb2466445c69cee" args="(playerc_actarray_t *device, int joint, float accel)" --> PLAYERC_EXPORT int </td><td class="memItemRight" valign="bottom"><b>playerc_actarray_accel_config</b> (<a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> *device, int joint, float accel)</td></tr> </table> <hr/><a name="_details"></a><h2>Detailed Description</h2> <p>The actarray proxy provides an interface to actuator arrays such as the ActivMedia Pioneer Arm. </p> <p>See the Player User Manual for a complete description of the drivers that support this interface. </p> <hr/><h2>Function Documentation</h2> <a class="anchor" id="ga5baecc249de1a61ce73c89d96f5042b7"></a><!-- doxytag: member="playerc.h::playerc_actarray_brakes" ref="ga5baecc249de1a61ce73c89d96f5042b7" args="(playerc_actarray_t *device, uint8_t enable)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_brakes </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">uint8_t </td> <td class="paramname"> <em>enable</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Turn the brakes of all actuators in the array that have them on or off. </p> </div> </div> <a class="anchor" id="ga13ddf913c323b69054c12e427c8b9dde"></a><!-- doxytag: member="playerc.h::playerc_actarray_create" ref="ga13ddf913c323b69054c12e427c8b9dde" args="(playerc_client_t *client, int index)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT <a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a>* playerc_actarray_create </td> <td>(</td> <td class="paramtype"><a class="el" href="struct__playerc__client__t.html">playerc_client_t</a> * </td> <td class="paramname"> <em>client</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>index</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Create an actarray proxy. </p> </div> </div> <a class="anchor" id="gab858ffefcc641ac9e31d45ef3f1661e5"></a><!-- doxytag: member="playerc.h::playerc_actarray_current_cmd" ref="gab858ffefcc641ac9e31d45ef3f1661e5" args="(playerc_actarray_t *device, int joint, float current)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_current_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>joint</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>current</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command a joint in the array to move with a specified current. </p> </div> </div> <a class="anchor" id="ga510835fdaf7417c743e65b03e6a3ab4f"></a><!-- doxytag: member="playerc.h::playerc_actarray_destroy" ref="ga510835fdaf7417c743e65b03e6a3ab4f" args="(playerc_actarray_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT void playerc_actarray_destroy </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Destroy an actarray proxy. </p> </div> </div> <a class="anchor" id="ga555084e3d3cd1e5cf66fea45eceb4bf3"></a><!-- doxytag: member="playerc.h::playerc_actarray_get_geom" ref="ga555084e3d3cd1e5cf66fea45eceb4bf3" args="(playerc_actarray_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_get_geom </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Get the actarray geometry. </p> <p>The writes the result into the proxy rather than returning it to the caller. </p> </div> </div> <a class="anchor" id="gae7ae34590e605d46be5bb9ada6d332ce"></a><!-- doxytag: member="playerc.h::playerc_actarray_home_cmd" ref="gae7ae34590e605d46be5bb9ada6d332ce" args="(playerc_actarray_t *device, int joint)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_home_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>joint</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command a joint (or, if joint is -1, the whole array) to go to its home position. </p> </div> </div> <a class="anchor" id="gab2d91f67d0c6fb9eb7e2c3663336cd8d"></a><!-- doxytag: member="playerc.h::playerc_actarray_multi_current_cmd" ref="gab2d91f67d0c6fb9eb7e2c3663336cd8d" args="(playerc_actarray_t *device, float *currents, int currents_count)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_multi_current_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float * </td> <td class="paramname"> <em>currents</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>currents_count</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command all joints in the array to move with specified currents. </p> </div> </div> <a class="anchor" id="gad0c2942e138bbac65cd45e913e4ac441"></a><!-- doxytag: member="playerc.h::playerc_actarray_multi_position_cmd" ref="gad0c2942e138bbac65cd45e913e4ac441" args="(playerc_actarray_t *device, float *positions, int positions_count)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_multi_position_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float * </td> <td class="paramname"> <em>positions</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>positions_count</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command all joints in the array to move to specified positions. </p> </div> </div> <a class="anchor" id="gace6d2330ba5dc682890afbf625bcbea7"></a><!-- doxytag: member="playerc.h::playerc_actarray_multi_speed_cmd" ref="gace6d2330ba5dc682890afbf625bcbea7" args="(playerc_actarray_t *device, float *speeds, int speeds_count)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_multi_speed_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float * </td> <td class="paramname"> <em>speeds</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>speeds_count</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command a joint in the array to move at a specified speed. </p> </div> </div> <a class="anchor" id="ga1b092f5903a4208a07574f674c145f65"></a><!-- doxytag: member="playerc.h::playerc_actarray_position_cmd" ref="ga1b092f5903a4208a07574f674c145f65" args="(playerc_actarray_t *device, int joint, float position)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_position_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>joint</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>position</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command a joint in the array to move to a specified position. </p> </div> </div> <a class="anchor" id="ga21d7e1c41c8e2472d06d4ed7ae45b9bc"></a><!-- doxytag: member="playerc.h::playerc_actarray_power" ref="ga21d7e1c41c8e2472d06d4ed7ae45b9bc" args="(playerc_actarray_t *device, uint8_t enable)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_power </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">uint8_t </td> <td class="paramname"> <em>enable</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Turn the power to the array on or off. </p> <p>Be careful when turning power on that the array is not obstructed from its home position in case it moves to it (common behaviour). </p> </div> </div> <a class="anchor" id="gabbeaa2f5825a6251f379733d4c48f526"></a><!-- doxytag: member="playerc.h::playerc_actarray_speed_cmd" ref="gabbeaa2f5825a6251f379733d4c48f526" args="(playerc_actarray_t *device, int joint, float speed)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_speed_cmd </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>joint</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>speed</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Command a joint in the array to move at a specified speed. </p> </div> </div> <a class="anchor" id="gae2313db176ab775d17cfc3c5f3128615"></a><!-- doxytag: member="playerc.h::playerc_actarray_speed_config" ref="gae2313db176ab775d17cfc3c5f3128615" args="(playerc_actarray_t *device, int joint, float speed)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_speed_config </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>joint</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"> <em>speed</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Set the speed of a joint (-1 for all joints) for all subsequent movement commands. </p> </div> </div> <a class="anchor" id="gadd8b3802e26796b9d87b6e95352725e1"></a><!-- doxytag: member="playerc.h::playerc_actarray_subscribe" ref="gadd8b3802e26796b9d87b6e95352725e1" args="(playerc_actarray_t *device, int access)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_subscribe </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"> <em>access</em></td><td> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td><td></td> </tr> </table> </div> <div class="memdoc"> <p>Subscribe to the actarray device. </p> </div> </div> <a class="anchor" id="ga07371bc26a70b3ed0c92c6597e3f5ec4"></a><!-- doxytag: member="playerc.h::playerc_actarray_unsubscribe" ref="ga07371bc26a70b3ed0c92c6597e3f5ec4" args="(playerc_actarray_t *device)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">PLAYERC_EXPORT int playerc_actarray_unsubscribe </td> <td>(</td> <td class="paramtype"><a class="el" href="structplayerc__actarray__t.html">playerc_actarray_t</a> * </td> <td class="paramname"> <em>device</em></td> <td> ) </td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Un-subscribe from the actarray device. </p> </div> </div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>