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Home / Manipulator_v2_0ServiceSet / PanTiltMotionProfile


Version: 2.0
ID: urn:jaus:jss:manipulator:PanTiltMotionProfileService
Inherits From:
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 Motion Profile Service is to allow for configuration of the motion profile for all services co-located on this component. The Set Pan Tilt Motion Profile message is used to set maximum velocity and acceleration rates for each of the two variable joint parameters. All motions utilize the motion profile data that was most recently sent.

Internal Event Set

Message Set
Message ID Name
2627h QueryPanTiltMotionProfile
4627h ReportPanTiltMotionProfile
0627h SetPanTiltMotionProfile

State Machine Diagram

PanTiltMotionProfile State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B PanTiltMotionProfileControlledLoop SetPanTiltMotionProfile isControllingClient setPanTiltMotionProfile
A PanTiltMotionProfileDefaultLoop QueryPanTiltMotionProfile panTiltMotionProfileExists sendReportPanTiltMotionProfile

Action Name Type Description
sendReportPanTiltMotionProfile Send Action Send a Report Pan Tilt Motion Profile message
Output Message: ReportPanTiltMotionProfile
setPanTiltMotionProfile Set the motion profile parameters for the pan tilt mechanism

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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.

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