javaclient2
Class Position1DInterface

java.lang.Object
  javaclient2.PlayerDevice
      javaclient2.Position1DInterface

All Implemented Interfaces:

PlayerConstants

public class Position1DInterface
extends PlayerDevice

The position1D interface is used to control linear actuators.

Version:

• v2.0 - Player 2.0 supported

Author:

Radu Bogdan Rusu, Maxim A. Batalin

Field Summary

Fields inherited from class javaclient2.PlayerDevice

is, os, pc

Fields inherited from interface javaclient2.structures.PlayerConstants

MCOM_CHANNEL_LEN, MCOM_DATA_BUFFER_SIZE, MCOM_DATA_LEN, MCOM_N_BUFS, PLAYER_ACTARRAY_ACTSTATE_BRAKED, PLAYER_ACTARRAY_ACTSTATE_IDLE, PLAYER_ACTARRAY_ACTSTATE_MOVING, PLAYER_ACTARRAY_ACTSTATE_STALLED, PLAYER_ACTARRAY_BRAKES_REQ, PLAYER_ACTARRAY_CODE, PLAYER_ACTARRAY_DATA_STATE, PLAYER_ACTARRAY_GET_GEOM_REQ, PLAYER_ACTARRAY_HOME_CMD, PLAYER_ACTARRAY_NUM_ACTUATORS, PLAYER_ACTARRAY_POS_CMD, PLAYER_ACTARRAY_POWER_REQ, PLAYER_ACTARRAY_SPEED_CMD, PLAYER_ACTARRAY_SPEED_REQ, PLAYER_ACTARRAY_STRING, PLAYER_ACTARRAY_TYPE_LINEAR, PLAYER_ACTARRAY_TYPE_ROTARY, PLAYER_AIO_CMD_STATE, PLAYER_AIO_CODE, PLAYER_AIO_DATA_STATE, PLAYER_AIO_MAX_INPUTS, PLAYER_AIO_MAX_OUTPUTS, PLAYER_AIO_STRING, PLAYER_AUDIO_CODE, PLAYER_AUDIO_COMMAND_BUFFER_SIZE, PLAYER_AUDIO_DATA_BUFFER_SIZE, PLAYER_AUDIO_PAIRS, PLAYER_AUDIO_STRING, PLAYER_AUDIODSP_CODE, PLAYER_AUDIODSP_DATA_TONES, PLAYER_AUDIODSP_GET_CONFIG, PLAYER_AUDIODSP_MAX_BITSTRING_LEN, PLAYER_AUDIODSP_MAX_FREQS, PLAYER_AUDIODSP_PLAY_CHIRP, PLAYER_AUDIODSP_PLAY_TONE, PLAYER_AUDIODSP_REPLAY, PLAYER_AUDIODSP_SET_CONFIG, PLAYER_AUDIODSP_STRING, PLAYER_AUDIOMIXER_CODE, PLAYER_AUDIOMIXER_GET_LEVELS, PLAYER_AUDIOMIXER_SET_IGAIN, PLAYER_AUDIOMIXER_SET_LINE, PLAYER_AUDIOMIXER_SET_MASTER, PLAYER_AUDIOMIXER_SET_MIC, PLAYER_AUDIOMIXER_SET_OGAIN, PLAYER_AUDIOMIXER_SET_PCM, PLAYER_AUDIOMIXER_STRING, PLAYER_BLINKENLIGHT_CMD_COLOR, PLAYER_BLINKENLIGHT_CMD_DUTYCYCLE, PLAYER_BLINKENLIGHT_CMD_PERIOD, PLAYER_BLINKENLIGHT_CMD_POWER, PLAYER_BLINKENLIGHT_CMD_STATE, PLAYER_BLINKENLIGHT_CODE, PLAYER_BLINKENLIGHT_DATA_STATE, PLAYER_BLINKENLIGHT_STRING, PLAYER_BLOBFINDER_CODE, PLAYER_BLOBFINDER_DATA_BLOBS, PLAYER_BLOBFINDER_MAX_BLOBS, PLAYER_BLOBFINDER_REQ_SET_COLOR, PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS, PLAYER_BLOBFINDER_STRING, PLAYER_BUMPER_CODE, PLAYER_BUMPER_DATA_GEOM, PLAYER_BUMPER_DATA_STATE, PLAYER_BUMPER_GET_GEOM, PLAYER_BUMPER_MAX_SAMPLES, PLAYER_BUMPER_STRING, PLAYER_CAMERA_CODE, PLAYER_CAMERA_COMPRESS_JPEG, PLAYER_CAMERA_COMPRESS_RAW, PLAYER_CAMERA_DATA_STATE, PLAYER_CAMERA_FORMAT_MONO16, PLAYER_CAMERA_FORMAT_MONO8, PLAYER_CAMERA_FORMAT_RGB565, PLAYER_CAMERA_FORMAT_RGB888, PLAYER_CAMERA_IMAGE_HEIGHT, PLAYER_CAMERA_IMAGE_SIZE, PLAYER_CAMERA_IMAGE_WIDTH, PLAYER_CAMERA_STRING, PLAYER_CLOSE_MODE, PLAYER_DATAMODE_PULL, PLAYER_DATAMODE_PUSH, PLAYER_DIO_CMD_VALUES, PLAYER_DIO_CODE, PLAYER_DIO_DATA_VALUES, PLAYER_DIO_STRING, PLAYER_ENERGY_CODE, PLAYER_ENERGY_DATA_STATE, PLAYER_ENERGY_SET_CHARGING_POLICY_REQ, PLAYER_ENERGY_STRING, PLAYER_ERROR_MODE, PLAYER_FIDUCIAL_CODE, PLAYER_FIDUCIAL_DATA_SCAN, PLAYER_FIDUCIAL_MAX_SAMPLES, PLAYER_FIDUCIAL_REQ_GET_FOV, PLAYER_FIDUCIAL_REQ_GET_GEOM, PLAYER_FIDUCIAL_REQ_GET_ID, PLAYER_FIDUCIAL_REQ_SET_FOV, PLAYER_FIDUCIAL_REQ_SET_ID, PLAYER_FIDUCIAL_STRING, PLAYER_GPS_CODE, PLAYER_GPS_DATA_STATE, PLAYER_GPS_STRING, PLAYER_GRAPHICS2D_CMD_CLEAR, PLAYER_GRAPHICS2D_CMD_DRAW, PLAYER_GRAPHICS2D_CMD_POINTS, PLAYER_GRAPHICS2D_CMD_POLYGON, PLAYER_GRAPHICS2D_CMD_POLYLINE, PLAYER_GRAPHICS2D_CODE, PLAYER_GRAPHICS2D_MAX_POINTS, PLAYER_GRAPHICS2D_STRING, PLAYER_GRAPHICS3D_CMD_CLEAR, PLAYER_GRAPHICS3D_CODE, PLAYER_GRAPHICS3D_MAX_POINTS, PLAYER_GRAPHICS3D_STRING, PLAYER_GRIPPER_CMD_STATE, PLAYER_GRIPPER_CODE, PLAYER_GRIPPER_DATA_STATE, PLAYER_GRIPPER_REQ_GET_GEOM, PLAYER_GRIPPER_STRING, PLAYER_HEALTH_CODE, PLAYER_HEALTH_DATA, PLAYER_HEALTH_STRING, PLAYER_IDENT_STRLEN, PLAYER_IMU_CODE, PLAYER_IMU_DATA_CALIB, PLAYER_IMU_DATA_EULER, PLAYER_IMU_DATA_QUAT, PLAYER_IMU_DATA_STATE, PLAYER_IMU_REQ_SET_DATATYPE, PLAYER_IMU_STRING, PLAYER_IR_CODE, PLAYER_IR_DATA_RANGES, PLAYER_IR_MAX_SAMPLES, PLAYER_IR_POSE, PLAYER_IR_POWER, PLAYER_IR_STRING, PLAYER_JOYSTICK_CODE, PLAYER_JOYSTICK_DATA_STATE, PLAYER_JOYSTICK_STRING, PLAYER_KEYLEN, PLAYER_LASER_CODE, PLAYER_LASER_DATA_SCAN, PLAYER_LASER_DATA_SCANPOSE, PLAYER_LASER_MAX_SAMPLES, PLAYER_LASER_REQ_GET_CONFIG, PLAYER_LASER_REQ_GET_GEOM, PLAYER_LASER_REQ_POWER, PLAYER_LASER_REQ_SET_CONFIG, PLAYER_LASER_STRING, PLAYER_LIMB_BRAKES_REQ, PLAYER_LIMB_CODE, PLAYER_LIMB_DATA, PLAYER_LIMB_GEOM_REQ, PLAYER_LIMB_HOME_CMD, PLAYER_LIMB_POWER_REQ, PLAYER_LIMB_SETPOSE_CMD, PLAYER_LIMB_SETPOSITION_CMD, PLAYER_LIMB_SPEED_REQ, PLAYER_LIMB_STATE_BRAKED, PLAYER_LIMB_STATE_COLL, PLAYER_LIMB_STATE_IDLE, PLAYER_LIMB_STATE_MOVING, PLAYER_LIMB_STATE_OOR, PLAYER_LIMB_STOP_CMD, PLAYER_LIMB_STRING, PLAYER_LIMB_VECMOVE_CMD, PLAYER_LOCALIZE_CODE, PLAYER_LOCALIZE_DATA_HYPOTHS, PLAYER_LOCALIZE_MAX_HYPOTHS, PLAYER_LOCALIZE_PARTICLES_MAX, PLAYER_LOCALIZE_REQ_GET_PARTICLES, PLAYER_LOCALIZE_REQ_SET_POSE, PLAYER_LOCALIZE_STRING, PLAYER_LOG_CODE, PLAYER_LOG_REQ_GET_STATE, PLAYER_LOG_REQ_SET_FILENAME, PLAYER_LOG_REQ_SET_READ_REWIND, PLAYER_LOG_REQ_SET_READ_STATE, PLAYER_LOG_REQ_SET_WRITE_STATE, PLAYER_LOG_STRING, PLAYER_LOG_TYPE_READ, PLAYER_LOG_TYPE_WRITE, PLAYER_MAP_CODE, PLAYER_MAP_DATA_INFO, PLAYER_MAP_MAX_SEGMENTS, PLAYER_MAP_MAX_TILE_SIZE, PLAYER_MAP_REQ_GET_DATA, PLAYER_MAP_REQ_GET_INFO, PLAYER_MAP_REQ_GET_VECTOR, PLAYER_MAP_STRING, PLAYER_MAX_DEVICES, PLAYER_MAX_DRIVER_STRING_LEN, PLAYER_MAX_MESSAGE_SIZE, PLAYER_MAX_REQREP_SIZE, PLAYER_MCOM_CLEAR, PLAYER_MCOM_CODE, PLAYER_MCOM_POP, PLAYER_MCOM_PUSH, PLAYER_MCOM_READ, PLAYER_MCOM_SET_CAPACITY, PLAYER_MCOM_STRING, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_MSGTYPE_CMD, PLAYER_MSGTYPE_DATA, PLAYER_MSGTYPE_REQ, PLAYER_MSGTYPE_RESP_ACK, PLAYER_MSGTYPE_RESP_NACK, PLAYER_MSGTYPE_SYNCH, PLAYER_NOMAD_CODE, PLAYER_NOMAD_STRING, PLAYER_NULL_CODE, PLAYER_NULL_STRING, PLAYER_OPAQUE_CODE, PLAYER_OPAQUE_STRING, PLAYER_OPEN_MODE, PLAYER_PLANNER_CMD_GOAL, PLAYER_PLANNER_CODE, PLAYER_PLANNER_DATA_STATE, PLAYER_PLANNER_MAX_WAYPOINTS, PLAYER_PLANNER_REQ_ENABLE, PLAYER_PLANNER_REQ_GET_WAYPOINTS, PLAYER_PLANNER_STRING, PLAYER_PLAYER_CODE, PLAYER_PLAYER_REQ_ADD_REPLACE_RULE, PLAYER_PLAYER_REQ_AUTH, PLAYER_PLAYER_REQ_DATA, PLAYER_PLAYER_REQ_DATAFREQ, PLAYER_PLAYER_REQ_DATAMODE, PLAYER_PLAYER_REQ_DEV, PLAYER_PLAYER_REQ_DEVLIST, PLAYER_PLAYER_REQ_DRIVERINFO, PLAYER_PLAYER_REQ_IDENT, PLAYER_PLAYER_REQ_NAMESERVICE, PLAYER_PLAYER_STRING, PLAYER_POINTCLOUD3D_CODE, PLAYER_POINTCLOUD3D_DATA_STATE, PLAYER_POINTCLOUD3D_MAX_POINTS, PLAYER_POINTCLOUD3D_STRING, PLAYER_POSITION1D_CMD_POS, PLAYER_POSITION1D_CMD_VEL, PLAYER_POSITION1D_CODE, PLAYER_POSITION1D_DATA_GEOM, PLAYER_POSITION1D_DATA_STATE, PLAYER_POSITION1D_REQ_GET_GEOM, PLAYER_POSITION1D_REQ_MOTOR_POWER, PLAYER_POSITION1D_REQ_POSITION_MODE, PLAYER_POSITION1D_REQ_POSITION_PID, PLAYER_POSITION1D_REQ_RESET_ODOM, PLAYER_POSITION1D_REQ_SET_ODOM, PLAYER_POSITION1D_REQ_SPEED_PID, PLAYER_POSITION1D_REQ_SPEED_PROF, PLAYER_POSITION1D_REQ_VELOCITY_MODE, PLAYER_POSITION1D_STATUS_ENABLED, PLAYER_POSITION1D_STATUS_LIMIT_CEN, PLAYER_POSITION1D_STATUS_LIMIT_MAX, PLAYER_POSITION1D_STATUS_LIMIT_MIN, PLAYER_POSITION1D_STATUS_OC, PLAYER_POSITION1D_STATUS_TRAJ_COMPLETE, PLAYER_POSITION1D_STRING, PLAYER_POSITION2D_CMD_CAR, PLAYER_POSITION2D_CMD_POS, PLAYER_POSITION2D_CMD_VEL, PLAYER_POSITION2D_CODE, PLAYER_POSITION2D_DATA_GEOM, PLAYER_POSITION2D_DATA_STATE, PLAYER_POSITION2D_REQ_GET_GEOM, PLAYER_POSITION2D_REQ_MOTOR_POWER, PLAYER_POSITION2D_REQ_POSITION_MODE, PLAYER_POSITION2D_REQ_POSITION_PID, PLAYER_POSITION2D_REQ_RESET_ODOM, PLAYER_POSITION2D_REQ_SET_ODOM, PLAYER_POSITION2D_REQ_SPEED_PID, PLAYER_POSITION2D_REQ_SPEED_PROF, PLAYER_POSITION2D_REQ_VELOCITY_MODE, PLAYER_POSITION2D_STRING, PLAYER_POSITION3D_CMD_SET_POS, PLAYER_POSITION3D_CMD_SET_VEL, PLAYER_POSITION3D_CODE, PLAYER_POSITION3D_DATA_GEOMETRY, PLAYER_POSITION3D_DATA_STATE, PLAYER_POSITION3D_GET_GEOM, PLAYER_POSITION3D_MOTOR_POWER, PLAYER_POSITION3D_POSITION_MODE, PLAYER_POSITION3D_POSITION_PID, PLAYER_POSITION3D_RESET_ODOM, PLAYER_POSITION3D_SET_ODOM, PLAYER_POSITION3D_SPEED_PID, PLAYER_POSITION3D_SPEED_PROF, PLAYER_POSITION3D_STRING, PLAYER_POSITION3D_VELOCITY_MODE, PLAYER_POWER_CODE, PLAYER_POWER_DATA_STATE, PLAYER_POWER_MASK_CHARGING, PLAYER_POWER_MASK_JOULES, PLAYER_POWER_MASK_PERCENT, PLAYER_POWER_MASK_VOLTS, PLAYER_POWER_MASK_WATTS, PLAYER_POWER_SET_CHARGING_POLICY_REQ, PLAYER_POWER_STRING, PLAYER_PTZ_CMD_STATE, PLAYER_PTZ_CODE, PLAYER_PTZ_DATA_GEOM, PLAYER_PTZ_DATA_STATE, PLAYER_PTZ_MAX_CONFIG_LEN, PLAYER_PTZ_POSITION_CONTROL, PLAYER_PTZ_REQ_AUTOSERVO, PLAYER_PTZ_REQ_CONTROL_MODE, PLAYER_PTZ_REQ_GENERIC, PLAYER_PTZ_REQ_GEOM, PLAYER_PTZ_STRING, PLAYER_PTZ_VELOCITY_CONTROL, PLAYER_RFID_CODE, PLAYER_RFID_DATA, PLAYER_RFID_MAX_GUID, PLAYER_RFID_MAX_TAGS, PLAYER_RFID_REQ_LOCKTAG, PLAYER_RFID_REQ_POWER, PLAYER_RFID_REQ_READTAG, PLAYER_RFID_REQ_WRITETAG, PLAYER_RFID_STRING, PLAYER_SERVICE_ADV_CODE, PLAYER_SERVICE_ADV_STRING, PLAYER_SIMULATION_CODE, PLAYER_SIMULATION_IDENTIFIER_MAXLEN, PLAYER_SIMULATION_REQ_GET_POSE2D, PLAYER_SIMULATION_REQ_SET_POSE2D, PLAYER_SIMULATION_STRING, PLAYER_SONAR_CODE, PLAYER_SONAR_DATA_GEOM, PLAYER_SONAR_DATA_RANGES, PLAYER_SONAR_MAX_SAMPLES, PLAYER_SONAR_REQ_GET_GEOM, PLAYER_SONAR_REQ_POWER, PLAYER_SONAR_STRING, PLAYER_SOUND_CMD_IDX, PLAYER_SOUND_CODE, PLAYER_SOUND_STRING, PLAYER_SPEECH_CMD_SAY, PLAYER_SPEECH_CODE, PLAYER_SPEECH_MAX_STRING_LEN, PLAYER_SPEECH_RECOGNITION_CODE, PLAYER_SPEECH_RECOGNITION_STRING, PLAYER_SPEECH_STRING, PLAYER_TRUTH_CODE, PLAYER_TRUTH_DATA_FIDUCIAL_ID, PLAYER_TRUTH_DATA_POSE, PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID, PLAYER_TRUTH_REQ_SET_POSE, PLAYER_TRUTH_STRING, PLAYER_WAVEFORM_CODE, PLAYER_WAVEFORM_DATA_MAX, PLAYER_WAVEFORM_DATA_SAMPLE, PLAYER_WAVEFORM_STRING, PLAYER_WIFI_CODE, PLAYER_WIFI_DATA_STATE, PLAYER_WIFI_IWSPY_ADD, PLAYER_WIFI_IWSPY_DEL, PLAYER_WIFI_IWSPY_PING, PLAYER_WIFI_MAC, PLAYER_WIFI_MAX_LINKS, PLAYER_WIFI_MODE_ADHOC, PLAYER_WIFI_MODE_AUTO, PLAYER_WIFI_MODE_INFRA, PLAYER_WIFI_MODE_MASTER, PLAYER_WIFI_MODE_REPEAT, PLAYER_WIFI_MODE_SECOND, PLAYER_WIFI_MODE_UNKNOWN, PLAYER_WIFI_QUAL_DBM, PLAYER_WIFI_QUAL_REL, PLAYER_WIFI_QUAL_UNKNOWN, PLAYER_WIFI_STRING, PLAYER_WSN_CMD_DEVSTATE, PLAYER_WSN_CODE, PLAYER_WSN_DATA, PLAYER_WSN_MAX_NODES, PLAYER_WSN_REQ_DATAFREQ, PLAYER_WSN_REQ_DATATYPE, PLAYER_WSN_REQ_POWER, PLAYER_WSN_STRING, SPEECH_RECOGNITION_DATA_STRING, SPEECH_RECOGNITION_TEXT_LEN

Constructor Summary

Position1DInterface(PlayerClient pc)
Constructor for Position1DInterface.

Method Summary

PlayerPosition1dData	getData() Get the Position1D data.
PlayerPosition1dGeom	getGeom() Get the geometry data.
protected void	handleResponse(PlayerMsgHdr header) Handle acknowledgement response messages.
boolean	isDataReady() Check if data is available.
boolean	isGeomReady() Check if geometry data is available.
void	queryGeometry() Request/reply: Query geometry.
void	readData(PlayerMsgHdr header) Read the Position1D data.
void	resetOdometry() Request/reply: Reset odometry.
void	resetOdometry(int value) Request/reply: Reset odometry.
void	setControlMode(int state) Request/reply: Change control mode.
void	setMotorPower(int state) Request/reply: Motor power.
void	setOdometry(float pos) Request/reply: Set odometry.
void	setPosition(float pos, float vel, int state) The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setPosition(PlayerPosition1dCmdPos pp1dcp) The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setPositionPIDParams(float kp, float ki, float kd) Request/reply: Set position PID parameters.
void	setSpeedProfileParams(float speed, float acc) Request/reply: Set linear speed profile parameters.
void	setVelocity(float vel, int state) The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setVelocity(PlayerPosition1dCmdVel pp1dcv) The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setVelocityControl(int mode) Request/reply: Change velocity control.
void	setVelocityPIDParams(float kp, float ki, float kd) Request/reply: Set velocity PID parameters.

Methods inherited from class javaclient2.PlayerDevice

getDeviceAccess, getDeviceAddress, getDeviceDriverName, handleNARMessage, sendHeader, setDeviceAccess, setDeviceAddress, setDeviceDriverName

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Position1DInterface

public Position1DInterface(PlayerClient pc)

Constructor for Position1DInterface.

Parameters:

pc - a reference to the PlayerClient object

Method Detail

readData

public void readData(PlayerMsgHdr header)

Read the Position1D data.

Overrides:

readData in class PlayerDevice

setPosition

public void setPosition(float pos,
                        float vel,
                        int state)

The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position1d_cmd_pos structure from player.h

Parameters:

pos - position data [m] or [rad]

vel - velocity at which to move to the position [m/s] or [rad/s]

state - motor state (zero is either off or locked, depending on the driver)

setPosition

public void setPosition(PlayerPosition1dCmdPos pp1dcp)

The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position1d_cmd_pos structure from player.h

Parameters:

pp1dcp - a PlayerPosition1dCmdPos structure holding the required data

setVelocity

public void setVelocity(float vel,
                        int state)

The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position1d_cmd_vel structure from player.h

Parameters:

vel - velocity [m/s] or [rad/s]

state - motor state (zero is either off or locked, depending on the driver)

setVelocity

public void setVelocity(PlayerPosition1dCmdVel pp1dcv)

The position1D interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position1d_cmd_vel structure from player.h

Parameters:

pp1dcv - a PlayerPosition1dCmdVel structure holding the required data

queryGeometry

public void queryGeometry()

Request/reply: Query geometry.

To request robot geometry, send a null PLAYER_POSITION1D_GET_GEOM.

setMotorPower

public void setMotorPower(int state)

Request/reply: Motor power.

On some robots, the motor power can be turned on and off from software. To do so, send a PLAYER_POSITION1D_MOTOR_POWER request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). Null response.

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.

Parameters:

state - 0 for off, 1 for on

setVelocityControl

public void setVelocityControl(int mode)

Request/reply: Change velocity control.

Some robots offer different velocity control modes. It can be changed by sending a PLAYER_POSITION1D_VELOCITY_MODE request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position1d device remains the same. Null response.

Parameters:

mode - driver-specific mode

resetOdometry

public void resetOdometry()

Request/reply: Reset odometry.

To reset the robot's odometry to x = 0, send a PLAYER_POSITION1D_RESET_ODOM request. Null response.

setControlMode

public void setControlMode(int state)

Request/reply: Change control mode.

To change the control mode, send a PLAYER_POSITION1D_POSITION_MODE request. Null response.

Parameters:

state - 0 for velocity mode, 1 for position mode

setOdometry

public void setOdometry(float pos)

Request/reply: Set odometry.

To set a robot's odometry to a particular state, send a PLAYER_POSITION1D_SET_ODOM request. Null response.

Parameters:

pos - position (X) in [m]

resetOdometry

public void resetOdometry(int value)

Request/reply: Reset odometry.

To set a robot's odometry to x = 0, send a PLAYER_POSITION1D_REQ_RESET_ODOM request. Null response.

Parameters:

value - driver-specific

setVelocityPIDParams

public void setVelocityPIDParams(float kp,
                                 float ki,
                                 float kd)

Request/reply: Set velocity PID parameters.

To set velocity PID parameters, send a PLAYER_POSITION1D_SPEED_PID request. Null response.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setPositionPIDParams

public void setPositionPIDParams(float kp,
                                 float ki,
                                 float kd)

Request/reply: Set position PID parameters.

To set position PID parameters, send a PLAYER_POSITION1D_POSITION_PID request. Null response.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setSpeedProfileParams

public void setSpeedProfileParams(float speed,
                                  float acc)

Request/reply: Set linear speed profile parameters.

To set linear speed profile parameters, send a PLAYER_POSITION1D_SPEED_PROF request. Null response.

Parameters:

speed - max speed [m/s]

acc - max acceleration [m/s^2]

handleResponse

protected void handleResponse(PlayerMsgHdr header)

Handle acknowledgement response messages.

Overrides:

handleResponse in class PlayerDevice

Parameters:

header - Player header

getData

public PlayerPosition1dData getData()

Get the Position1D data.

Returns:

an object of type PlayerPosition1DData containing the requested data

getGeom

public PlayerPosition1dGeom getGeom()

Get the geometry data.

Returns:

an object of type PlayerPosition1DGeom containing the requested data

isDataReady

public boolean isDataReady()

Check if data is available.

Returns:

true if ready, false if not ready

isGeomReady

public boolean isGeomReady()

Check if geometry data is available.

Returns:

true if ready, false if not ready