/**
* Request/reply: Motor power. <br>
* <br>
* 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. <br>
* <br>
* 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.
*
* @param state 0 for off, 1 for on
*/
public void setMotorPower(int state) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_POSITION1D_REQ_MOTOR_POWER, 4);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(4);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeByte((byte) state);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException("[Position1D] : Couldn't request MOTOR_POWER: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding POWER request: " + e.toString(), e);
}
}
/**
* The position1D interface accepts new positions and/or velocities for the robot's motors
* (drivers may support position control, speed control or both). <br>
* <br>
* See the player_position1d_cmd_vel structure from player.h
*
* @param pp1dcv a PlayerPosition1dCmdVel structure holding the required data
*/
public void setVelocity(PlayerPosition1dCmdVel pp1dcv) {
try {
sendHeader(PLAYER_MSGTYPE_CMD, PLAYER_POSITION1D_CMD_VEL, 8);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(8);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeFloat(pp1dcv.getVel());
xdr.xdrEncodeByte(pp1dcv.getState());
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException(
"[Position1D] : Couldn't send velocity command: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding position command: " + e.toString(), e);
}
}
/**
* The position1D interface accepts new positions and/or velocities for the robot's motors
* (drivers may support position control, speed control or both). <br>
* <br>
* See the player_position1d_cmd_pos structure from player.h
*
* @param pos position data [m] or [rad]
* @param vel velocity at which to move to the position [m/s] or [rad/s]
* @param state motor state (zero is either off or locked, depending on the driver)
*/
public void setPosition(float pos, float vel, int state) {
try {
sendHeader(PLAYER_MSGTYPE_CMD, PLAYER_POSITION1D_CMD_POS, 12);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(12);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeFloat(pos);
xdr.xdrEncodeFloat(vel);
xdr.xdrEncodeByte((byte) state);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException(
"[Position1D] : Couldn't send position command: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding position command: " + e.toString(), e);
}
}
