Low-level control of an array of actuators, allowing each individual actuator's position to be controlled.
Inputs
Port name
Purpose
Data
ActuatorPos
Individual actuator position control.
ActArrayActuatorPos structure
ActuatorSpeed
Individual actuator speed control.
ActArrayActuatorSpeed structure
ActuatorCurrent
Individual actuator current control.
ActArrayActuatorCurrent structure
Positions
Whole-array position control.
TimedDoubleSeq
Speeds
Whole-array speed control.
TimedDoubleSeq
Currents
Whole-array current control.
TimedDoubleSeq
ActArrayActuatorPos
Member
Type
Description
time
Time
Time stamp.
index
unsigned short
Index of the actuator to modify.
position
double
New position for the actuator in metres or radians.
ActArrayActuatorSpeed
Member
Type
Description
time
Time
Time stamp.
index
unsigned short
Index of the actuator to modify.
speed
double
New speed for the actuator in metres per second or radians per second.
ActArrayActuatorCurrent
Member
Type
Description
time
Time
Time stamp.
index
unsigned short
Index of the actuator to modify.
current
double
New current for the actuator in amps.
Outputs
Port name
Purpose
Data
State
Status of the actuators in the array.
ActArrayState structure
ActArrayState
Member
Type
Description
time
Time
Time stamp.
actuators
sequence<Actuator>
Sequence of states for the actuators in the array.
Actuator
Member
Type
Description
position
double
Position of the actuator, in metres (for linear actuators) or radians (for rotary actuators).
speed
double
Current speed of the actuator, in metres per second or radians per second.
accel
double
Acceleration of the actuator, in metres per second squared or radians per second squared.
current
double
Current draw of the actuator in amps.
state
ActArrayActuatorStatus
State of the actuator.
ActArrayActuatorStatus
Value
Description
ACTUATOR_STATUS_IDLE
Actuator is idle.
ACTUATOR_STATUS_MOVING
Actuator is moving.
ACTUATOR_STATUS_BRAKED
Actuator's brakes are engaged.
ACTUATOR_STATUS_STALLED
Actuator has stalled while trying to move.
Services
Port name
Purpose
Parameters
Return data
GetGeometry
Device position and size information.
None
ActArrayGeometry structure
GoHome
Send one or all actuators to a predefined home position.
(unsigned short) Index or -1 for all actuators
None
Power
Enable or disable power to the array.
(boolean) True to enable power, false to disable
None
Brakes
Engage or disengage brakes on all actuators.
(boolean) True to enable brakes, false to disable
None
ConfigSpeed
Set the movement speed of an actuator.
(unsigned short) Actuator index; (double) New speed
None
ConfigAccel
Set the acceleration of an actuator.
(unsigned short) Actuator index; (double) New acceleration
None
ActArrayGeometry
Member
Type
Description
baseGeometry
Geometry3D
Geometry of the overall array.
actuators
ActArrayActuatorGeometry[]
Geometry of each individual actuator in the array.
ActArrayActuatorGeometry
Member
Type
Description
type
ActArrayActuatorType
Type of the actuator: linear or rotary.
length
double
The length of this actuator's link to the next actuator. For linear actuators, this should be its length when at 0 position.
orientation
Orientation3D
The orientation of this actuator when it is in its rest position. When combined with the length of the actuator's link, this will give the position in space of the next actuator in the array in the coordinate space of this actuator (i.e., it is the direction to the next actuator).
axis
Vector3D
The axis of rotation for this actuator if it is rotary, or axis along which it moves if it is linear. In both cases, it is a vector.
minRange
double
Minimum range of motion of the actuator, in metres or radians.
centre
double
Centre point of the actuator's range of motion, in metres or radians.
maxRange
double
Maximum range of motion of the actuator, in metres or radians.
home
double
Home point of the actuator, in metres or radians.
hasBrakes
boolean
True if this actuator has brakes.
ActArrayActuatorType
Value
Description
ACTARRAY_ACTUATORTYPE_LINEAR
A linear actuator, such as a hydraulic piston.
ACTARRAY_ACTUATORTYPE_ROTARY
A rotary actuator, such as a motorised elbow joint.
Actuator Array
Low-level control of an array of actuators, allowing each individual actuator's position to be controlled.
Inputs
ActArrayActuatorPos
ActArrayActuatorSpeed
ActArrayActuatorCurrent
Outputs
ActArrayState
Actuator
ActArrayActuatorStatus
Services
ActArrayGeometry
ActArrayActuatorGeometry
ActArrayActuatorType