OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / UgvServiceSet / AckermannDriver

AckermannDriver

Version: 1.0
ID: urn:jaus:jss:ugv:AckermannDriver
Inherits From:
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

Description:
The AckermannDriver provides the means to control Ackermann steered vehicles

Internal Event Set
None


Message Set
Message ID Name
2500h QueryAckermannConfiguration
4500h ReportAckermannConfiguration
0500h SetAckermannConfiguration

State Machine Diagram

AckermannDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A AckermannDriverDefaultLoop QueryAckermannConfiguration sendReportAckermannConfiguration
B AckermannDriverReadyLoop SetAckermannConfiguration isControllingClient setAckermannConfiguration


Actions
Action Name Type Description
sendReportAckermannConfiguration Send Action Send a Report Report Ackerlann Configuration message
Output Message: ReportAckermannConfiguration
setAckermannConfiguration Set the throttle, brake, and steering angle for the vehicle.
stopMotion Exit Action Stop motion on all actuators.



OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 09/11/2015 from AS6091-UGV.ojss