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Home / Ugv_v1_0ServiceSet / SkidSteerDriver

SkidSteerDriver

Version: 1.0
ID: urn:jaus:jss:ugv:SkidSteerDriver
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 SkidSteer Driver provides the means to control skid steer vehicles

Internal Event Set
None


Message Set
Message ID Name
2501h QuerySkidSteerEffort
4501h ReportSkidSteerEffort
0501h SetSkidSteerEffort

State Machine Diagram

SkidSteerDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A SkidSteerDriverDefaultLoop QuerySkidSteerEffort sendReportSkidSteerEffort
B SkidSteerDriverReadyLoop SetSkidSteerEffort isControllingClient setSkidSteerEffort


Actions
Action Name Type Description
sendReportSkidSteerEffort Send Action Send a Report Skid Steer Effort message
Output Message: ReportSkidSteerEffort
setSkidSteerEffort Set the actuator effort level for each track of the vehicle.
stopMotion Exit Action Stop motion on both sides.


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Generated on 07/17/2019 from as6091-ugv.ojss