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Home / ManipulatorServiceSet / PanTiltJointPositionDriver


Version: 1.0
ID: urn:jaus:jss:manipulator:PanTiltJointPositionDriver
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

The function of the Pan Tilt Joint Position Driver is to perform closed-loop joint position control. A single target is provided via the Set Pan Tilt Joint Position message. The target remains unchanged until a new Set Pan Tilt Joint Position message is received. The Set Pan Tilt Motion Profile message is used to set maximum velocity and acceleration rates for each of the two variable joint parameters. All motions utilize the motion profile data that was most recently sent. Default settings are not assumed so that upon initialization this message must be sent before the first Set Pan Tilt Joint Position message is sent. The desired joint parameter values are input to the service via the Set Pan Tilt Joint Position message.

Internal Event Set

Message Set
Message ID Name
2628h QueryCommandedPanTiltJointPosition
2627h QueryPanTiltMotionProfile
2620h QueryPanTiltSpecifications
4628h ReportCommandedPanTiltJointPosition
4627h ReportPanTiltMotionProfile
4620h ReportPanTiltSpecifications
0622h SetPanTiltJointPosition
0627h SetPanTiltMotionProfile

State Machine Diagram

PanTiltJointPositionDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B PanTiltPositionDriverControlledLoop SetPanTiltMotionProfile isControllingClient setPanTiltMotionProfile
A PanTiltPositionDriverDefaultLoop QueryCommandedPanTiltJointPosition sendReportCommandedPanTiltJointPosition
QueryPanTiltSpecifications sendReportPanTiltSpecifications
QueryPanTiltMotionProfile panTiltMotionProfileExists sendReportPanTiltMotionProfile
C PanTiltPositionDriverReadyLoop SetPanTiltJointPosition isControllingClient && panTiltMotionProfileExists setPanTiltJointPosition

Action Name Type Description
sendReportCommandedPanTiltJointPosition Send Action Send a Report Commanded Pan Tilt Joint Position message
Output Message: ReportCommandedPanTiltJointPosition
sendReportPanTiltMotionProfile Send Action Send a Report Pan Tilt Motion Profile message
Output Message: ReportPanTiltMotionProfile
sendReportPanTiltSpecifications Send Action Send a report Pan Tilt specifications message
Output Message: ReportPanTiltSpecifications
setPanTiltJointPosition Set the desired joint values for the pan tilt mechanism
setPanTiltMotionProfile Set the motion profile parameters for the pan tilt mechanism
stopMotion Exit Action

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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 AS6057-Manipulator.ojss