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Home / Manipulator_v2_0ServiceSet / PanTiltJointPositionDriver


Version: 2.0
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. To ensure backward compatibility with 1.0 implementations of this service, it is recommended that this service be co-located on the same component as a Pan Tilt Specification Service and a Pan Tilt Motion Profile Service.

Internal Event Set

Message Set
Message ID Name
2628h QueryCommandedPanTiltJointPosition
4628h ReportCommandedPanTiltJointPosition
0622h SetPanTiltJointPosition

State Machine Diagram

PanTiltJointPositionDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PanTiltJointPositionDriverDefaultLoop QueryCommandedPanTiltJointPosition sendReportCommandedPanTiltJointPosition
B PanTiltJointPositionDriverReadyLoop SetPanTiltJointPosition isControllingClient && panTiltMotionProfileExists setPanTiltJointPosition

Action Name Type Description
sendReportCommandedPanTiltJointPosition Send Action Send a Report Commanded Pan Tilt Joint Positions message
Output Message: ReportCommandedPanTiltJointPosition
setPanTiltJointPosition Set the desired joint values for the pan tilt mechanism
stopMotion Exit Action Stop motion of the pan tilt unit.

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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 07/17/2019 from as6057a-manipulator.ojss