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Home / ManipulatorServiceSet / PrimitivePanTilt

PrimitivePanTilt

Version: 1.0
ID: urn:jaus:jss:manipulator:PrimitivePanTilt
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 Primitive Pan Tilt Service is the low level interface to a pan tilt mechanism. The Report Pan Tilt Specification Message returns the minimum and maximum allowable value and the maximum velocity for each of the two joints as well as the position and orientation of the pan tilt base coordinate system relative to the vehicle coordinate system. Motion of the pan tilt mechanism is accomplished via the Set Pan Tilt Joint Effort message. In this message, each actuator is commanded to move with a percentage of maximum effort.

Internal Event Set
None


Message Set
Message ID Name
2621h QueryPanTiltJointEffort
2620h QueryPanTiltSpecifications
4621h ReportPanTiltJointEffort
4620h ReportPanTiltSpecifications
0621h SetPanTiltJointEffort

State Machine Diagram

PrimitivePanTilt State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PrimitivePanTiltDefaultLoop QueryPanTiltJointEffort sendReportPanTiltJointEffort
QueryPanTiltSpecifications sendReportPanTiltSpecifications
B PrimitivePanTiltReadyLoop SetPanTiltJointEffort isControllingClient setPanTiltJointEffort


Actions
Action Name Type Description
sendReportPanTiltJointEffort Send Action Send a report Pan Tilt joint effort message
Output Message: ReportPanTiltJointEffort
sendReportPanTiltSpecifications Send Action Send a report Pan Tilt specifications message
Output Message: ReportPanTiltSpecifications
setPanTiltJointEffort Set the joint motion efforts for the two joints of the pan tilt mechanism



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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.

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