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Drive Configuration
9.Drive Configuration
The Drive Configuration service allows additional controls of the mobility system, either using Primitive Driver or other means, such as Skid Steer Driver. The Primitive Driver controls the movement of the system while the Skid Steer Driver controls individual tracks of the system.
The Drive Configuration service also specifies the controls of the stabilizers, either by efforts or positions.
Require: core:AccessControl
Inherit from: none
9.1 Service Behavior
9.1.1 State Diagram
Figure 8 Drive Configuration State Diagram
9.1.2 State Actions
| State | Actions |
| READY |
|
9.1.3 Internal Events
| Event | Parameters | Purpose |
|---|---|---|
| ieReceiveMessage | Message received |
9.1.4 Transitions
| Transition | Trigger | Condition | Action |
|---|---|---|---|
| A | ieReceiveMessage | Process received messages |
9.2 Protocol
9.2.1 Incoming Message Set
| # | ID | Message |
|---|---|---|
| 1 |
H:0x00000001 L: 0x00000211 |
Query Drive Configuration |
| 2 |
H:0x00000001 L: 0x00000212 |
Set Drive Configuration |
9.2.2 Outgoing Message Set
| # | ID | Message |
|---|---|---|
| 1 |
H:0x00000001 L: 0x00000213 |
Report Drive Configuration |
9.3 Parameters
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving drive configuration updates, default=0.5.
9.4 Data
Get:
location=driveconfiguration, type=DriveConfigurationRec