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Uli SDK

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Skid Steer Driver

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
  • Execute requested left and right track efforts
DEFAULT
  • Report commanding efforts

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

  1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.

  2. DATATIMEOUT double, timeout in seconds for not receiving skid steer efforts updates, default=0.5.

8.4 Data

Get:

 

  1. location= skidsteerefforts, type= SkidSteerEffortsRec