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Home / MobilityServiceSet / PrimitiveDriver


Version: 1.0
ID: urn:jaus:jss:mobility:PrimitiveDriver
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 Primitive Driver allows for basic platform mobility. This service does not imply any particular platform type such as tracked or wheeled, but describes mobility in six degrees of freedom using a percent of available effort in each direction. Additionally, no power plant (gasoline, diesel, or battery) is implied and the service functions strictly in an open loop manner, i.e., a velocity is not commanded since that requires a speed sensor. Note that the specific actuator commands are not defined by JAUS.

Internal Event Set

Message Set
Message ID Name
2405h QueryWrenchEffort
4405h ReportWrenchEffort
0405h SetWrenchEffort

State Machine Diagram

PrimitiveDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PrimitiveDriverDefaultLoop QueryWrenchEffort sendReportWrenchEffort
B PrimitiveDriverReadyLoop SetWrenchEffort isControllingClient setWrenchEffort

Action Name Type Description
resetTravelSpeed Exit Action When leaving the Ready state, reset the travel speed to zero.
sendReportWrenchEffort Send Action Output Message: ReportWrenchEffort

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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 AS6009-Mobility.ojss