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Home / Manipulator_v2_0ServiceSet / PanTiltJointVelocityDriver

PanTiltJointVelocityDriver

Version: 2.0
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 Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous desired joint velocities for the pan tilt mechanism. It is assumed that the pan tilt mechanism begins motion immediately after receiving the Set Pan Tilt Joint Velocity message. 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
None


Message Set
Message ID Name
2631h QueryCommandedPanTiltJointVelocity
4631h ReportCommandedPanTiltJointVelocity
0623h SetPanTiltJointVelocity

State Machine Diagram

PanTiltJointVelocityDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PanTiltJointVelocityDriverDefaultLoop QueryCommandedPanTiltJointVelocity sendReportCommandedPanTiltJointVelocity
B PanTiltJointVelocityDriverReadyLoop SetPanTiltJointVelocity isControllingClient && panTiltMotionProfileExists setPanTiltJointVelocity


Actions
Action Name Type Description
sendReportCommandedPanTiltJointVelocity Send Action Send a Report Commanded Pan Tilt joint velocities message
Output Message: ReportCommandedPanTiltJointVelocity
setPanTiltJointVelocity Set the desired velocities for the individual joints of the Pan Tilt mechanism
stopMotion Exit Action Stop motion of the pan tilt unit.


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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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