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Home / Manipulator_v2_0ServiceSet / PrimitivePanTilt


Version: 2.0
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

The Primitive Pan Tilt Service is the low level interface to a pan tilt mechanism. 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. 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.

Internal Event Set

Message Set
Message ID Name
2621h QueryPanTiltJointEffort
4621h ReportPanTiltJointEffort
0621h SetPanTiltJointEffort

State Machine Diagram

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

Action Name Type Description
sendReportPanTiltJointEffort Send Action Send a report Pan Tilt joint efforts message
Output Message: ReportPanTiltJointEffort
setPanTiltJointEffort Set the joint motion efforts for the two joints of 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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