8.Skid Steer Driver
The Skid Steer Driver commands individual track of the skid steer mobility system.
Require: core:AccessControl
Inherit from: core:Management
8.1 Service Behavior
8.1.1 State Diagram
Figure 7 Skid Steer Driver State Diagram
8.1.2 State Actions
State | Actions |
---|---|
core:Management.READY |
|
DEFAULT |
|
8.1.3 Internal Events
Event | Parameters | Purpose |
---|---|---|
ieReceiveMessage | Message received |
8.1.4 Transitions
Transition | Trigger | Condition | Action |
---|---|---|---|
A | Query Skid Steer Efforts | Process message | |
B | Set Skid Steer Efforts | Process message | |
C | Management exits READY state | Reset commanding efforts to safe efforts |
8.2 Protocol
8.2.1 Incoming Message Set
# | ID | Message |
---|---|---|
1 | H:0x00000001 L: 0x0000020E | Query Skid Steer Efforts |
2 | H:0x00000001 L: 0x0000020F | Set Skid Steer Efforts |
8.2.2 Outgoing Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x00000210 |
Report Skid Steer Efforts |
8.3 Parameters
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving skid steer efforts updates, default=0.5.
8.4 Data
Get:
- location= skidsteerefforts, type= SkidSteerEffortsRec