76 lines
3.0 KiB
C
76 lines
3.0 KiB
C
/*
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* Copyright 1996-2024 Cyberbotics Ltd.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* https://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/**********************************************************************************/
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/* Description: Webots C programming interface for the Motor node */
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/**********************************************************************************/
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#ifndef WB_MOTOR_H
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#define WB_MOTOR_H
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#define WB_USING_C_API
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#include "types.h"
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#ifndef WB_MATLAB_LOADLIBRARY
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#include <math.h>
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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void wb_motor_set_position(WbDeviceTag tag, double position); // rad or meters
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void wb_motor_set_acceleration(WbDeviceTag tag, double acceleration); // rad/s^2 or m/s^2
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void wb_motor_set_velocity(WbDeviceTag tag, double velocity); // rad/s or m/s
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void wb_motor_set_force(WbDeviceTag tag, double force); // N
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void wb_motor_set_torque(WbDeviceTag tag, double torque); // N*m
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void wb_motor_set_available_force(WbDeviceTag tag, double force); // N
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void wb_motor_set_available_torque(WbDeviceTag tag, double torque); // N*m
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void wb_motor_set_control_pid(WbDeviceTag tag, double p, double i, double d); // set the PID control parameters
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void wb_motor_enable_force_feedback(WbDeviceTag tag, int sampling_period);
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void wb_motor_disable_force_feedback(WbDeviceTag tag);
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int wb_motor_get_force_feedback_sampling_period(WbDeviceTag tag);
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double wb_motor_get_force_feedback(WbDeviceTag tag);
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void wb_motor_enable_torque_feedback(WbDeviceTag tag, int sampling_period);
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void wb_motor_disable_torque_feedback(WbDeviceTag tag);
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int wb_motor_get_torque_feedback_sampling_period(WbDeviceTag tag);
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double wb_motor_get_torque_feedback(WbDeviceTag tag);
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WbJointType wb_motor_get_type(WbDeviceTag tag);
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double wb_motor_get_target_position(WbDeviceTag tag);
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double wb_motor_get_min_position(WbDeviceTag tag);
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double wb_motor_get_max_position(WbDeviceTag tag);
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double wb_motor_get_velocity(WbDeviceTag tag);
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double wb_motor_get_max_velocity(WbDeviceTag tag);
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double wb_motor_get_acceleration(WbDeviceTag tag);
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double wb_motor_get_available_force(WbDeviceTag tag);
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double wb_motor_get_max_force(WbDeviceTag tag);
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double wb_motor_get_available_torque(WbDeviceTag tag);
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double wb_motor_get_max_torque(WbDeviceTag tag);
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double wb_motor_get_multiplier(WbDeviceTag tag);
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WbDeviceTag wb_motor_get_brake(WbDeviceTag tag);
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WbDeviceTag wb_motor_get_position_sensor(WbDeviceTag tag);
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#ifdef __cplusplus
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}
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#endif
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#endif /* WB_MOTOR_H */
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