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Home / ManipulatorServiceSet / PanTiltJointVelocityDriver

PanTiltJointVelocityDriver

Version: 1.0
ID: urn:jaus:jss:manipulator:PanTiltJointVelocityDriver
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 function of the Pan Tilt Joint Velocity Joint Velocity Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous desired joint velocities for the pan tilt mechanism. The Set Pan Tilt Motion Profile message is used to set maximum velocity and acceleration rates for both of the 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 Velocity message is sent. It is assumed that the pan tilt mechanism begins motion immediately after receiving the Set Pan Tilt Joint Velocity message.

Internal Event Set
None


Message Set
Message ID Name
2631h QueryCommandedPanTiltJointVelocity
2627h QueryPanTiltMotionProfile
2620h QueryPanTiltSpecifications
4631h ReportCommandedPanTiltJointVelocity
4627h ReportPanTiltMotionProfile
4620h ReportPanTiltSpecifications
0623h SetPanTiltJointVelocity
0627h SetPanTiltMotionProfile

State Machine Diagram

PanTiltJointVelocityDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B PanTiltJointVelocityDriverControlledLoop SetPanTiltMotionProfile isControllingClient setPanTiltMotionProfile
A PanTiltJointVelocityDriverDefaultLoop QueryCommandedPanTiltJointVelocity sendReportCommandedPanTiltJointVelocity
QueryPanTiltSpecifications sendReportPanTiltSpecifications
QueryPanTiltMotionProfile panTiltMotionProfileExists sendReportPanTiltMotionProfile
C PanTiltJointVelocityDriverReadyLoop SetPanTiltJointVelocity isControllingClient && panTiltMotionProfileExists setPanTiltJointVelocity


Actions
Action Name Type Description
sendReportCommandedPanTiltJointVelocity Send Action Send a Report Commanded Pan Tilt Joint Velocity message
Output Message: ReportCommandedPanTiltJointVelocity
sendReportPanTiltMotionProfile Send Action Send a Report Pan Tilt Motion Profile message
Output Message: ReportPanTiltMotionProfile
sendReportPanTiltSpecifications Send Action Send a report Pan Tilt specs message
Output Message: ReportPanTiltSpecifications
setPanTiltJointVelocity Set the desired velocities for the individual joints of the Pan Tilt mechanism
setPanTiltMotionProfile Set the motion profile parameters for the Pan Tilt mechanism
stopMotion Exit Action



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