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StabilizerDriver

Version: 1.0
ID: urn:jaus:jss:ugv:StabilizerDriver
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 StabilizerDriver provides the means to control platform stabilizers, such as flippers

Internal Event Set
None


Message Set
Message ID Name
2505h QueryStabilizerCapabilities
2503h QueryStabilizerEffort
2504h QueryStabilizerPosition
4505h ReportStabilizerCapabilities
4503h ReportStabilizerEffort
4504h ReportStabilizerPosition
0503h SetStabilizerEffort
0504h SetStabilizerPosition

State Machine Diagram

StabilizerDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A StabilizerDriverDefaultLoop QueryStabilizerEffort sendReportStabilizerEffort
QueryStabilizerCapabilities sendReportStabilizerCapabilities
QueryStabilizerPosition sendReportStabilizerPosition
B StabilizerDriverReadyLoop SetStabilizerEffort isControllingClient && stabilizersExist setStabilizerPosition
SetStabilizerPosition ( isControllingClient && stabilizersExist ) && areReachable setStabilizerPosition


Actions
Action Name Type Description
sendReportStabilizerCapabilities Send Action Send a Report Stabilizer Capabilities message
Output Message: ReportStabilizerCapabilities
sendReportStabilizerEffort Send Action Send a Report Stabilizer Effort message
Output Message: ReportStabilizerEffort
sendReportStabilizerPosition Send Action Send a Report Stabilizer Position message
Output Message: ReportStabilizerPosition
setStabilizerEffort Set the actuator effort levels for the specified Stabilizers.
setStabilizerPosition Set the position for the specified Stabilizers.
stopMotion Exit Action Stop motion on all stabilizers.



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