OpenJAUS.com

This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.
Home / Ugv_v1_0ServiceSet / SetAckermannConfiguration

Message SetAckermannConfiguration

Message ID: 0500h

Description:
Sets Ackermann driver parameters

Message Format
Field # Field Type Units Optional Interpretation
1 Presence Vector Unsigned Byte one false Bit 0: MaxSteeringRate
Bit 1: MaxSteeringTorque
2 SteeringAngle Scaled Integer
Integer Size: Unsigned Short		 units radians false Real Lower Limit: -1.5707963267948966
Real Upper Limit: 1.5707963267948966
3 ThrottleEffort Scaled Integer
Integer Size: Unsigned Byte		 units percent false Real Lower Limit: 0.0
Real Upper Limit: 100.0
4 BrakeEffort Scaled Integer
Integer Size: Unsigned Byte		 units percent false Real Lower Limit: 0.0
Real Upper Limit: 100.0
5 MaxSteeringRate Scaled Integer
Integer Size: Unsigned Short		 units radians per second true The absolute value of the maximum rate of change in the steering angle. Lower values result in more gradual steering changes.

Real Lower Limit: 0.0
Real Upper Limit: 32.767
6 MaxSteeringTorque Scaled Integer
Integer Size: Unsigned Short		 units newton meter true The absolute value of the maximum torque allowed to effect a change in steering angle, as experienced at the steering wheel. Lower values allow a human operator to override remote commands

Real Lower Limit: 0.0
Real Upper Limit: 500.0


OpenJAUS.com

Copyright © SAE International. Reprinted with Permission.
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 as6091-ugv.ojss