/**
* Request/reply: Set linear speed profile parameters. <br>
* <br>
* To set linear speed profile parameters, send a PLAYER_POSITION1D_SPEED_PROF request. Null
* response.
*
* @param speed max speed [m/s]
* @param acc max acceleration [m/s^2]
*/
public void setSpeedProfileParams(float speed, float acc) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_POSITION1D_REQ_SPEED_PROF, 8);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(8);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeFloat(speed);
xdr.xdrEncodeFloat(acc);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException("[Position1D] : Couldn't request SPEED_PROF: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding SPEED_PROF " + "request: " + e.toString(), e);
}
}
/**
* Request/reply: Set position PID parameters. <br>
* <br>
* To set position PID parameters, send a PLAYER_POSITION1D_POSITION_PID request. Null response.
*
* @param kp P parameter
* @param ki I parameter
* @param kd D parameter
*/
public void setPositionPIDParams(float kp, float ki, float kd) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_POSITION1D_REQ_POSITION_PID, 12);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(12);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeFloat(kp);
xdr.xdrEncodeFloat(ki);
xdr.xdrEncodeFloat(kd);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException("[Position1D] : Couldn't request POSITION_PID: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding POSITION_PID " + "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);
}
}
/**
* Request/reply: Reset odometry. <br>
* <br>
* To set a robot's odometry to x = 0, send a PLAYER_POSITION1D_REQ_RESET_ODOM request. Null
* response.
*
* @param value driver-specific
*/
public void resetOdometry(int value) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_POSITION1D_REQ_SET_ODOM, 4);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(4);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeInt(value);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException("[Position1D] : Couldn't request RESET_ODOM: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding RESET_ODOM " + "request: " + e.toString(), e);
}
}
/**
* 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);
}
}
/**
* Request/reply: Change velocity control. <br>
* <br>
* 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.
*
* @param mode driver-specific mode
*/
public void setVelocityControl(int mode) {
try {
sendHeader(PLAYER_MSGTYPE_REQ, PLAYER_POSITION1D_REQ_VELOCITY_MODE, 4);
XdrBufferEncodingStream xdr = new XdrBufferEncodingStream(4);
xdr.beginEncoding(null, 0);
xdr.xdrEncodeInt(mode);
xdr.endEncoding();
os.write(xdr.getXdrData(), 0, xdr.getXdrLength());
xdr.close();
os.flush();
} catch (IOException e) {
throw new PlayerException(
"[Position1D] : Couldn't request VELOCITY_MODE: " + e.toString(), e);
} catch (OncRpcException e) {
throw new PlayerException(
"[Position1D] : Error while XDR-encoding VELOCITY_MODE " + "request: " + e.toString(), e);
}
}