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Velocity Configuration
10.Velocity Configuration
The Velocity Configuration service allows close-loop controls of the velocity of the mobility system.
Require: core:AccessControl
Inherit from: none
10.1 Service Behavior
10.1.1 State Diagram
Figure 9 Velocity Configuration State Diagram
10.1.2 State Actions
| State | Actions |
|---|---|
| READY |
|
10.1.3 Internal Events
| Event | Parameters | Purpose |
|---|---|---|
| ieReceiveMessage | Message received |
10.1.4 Transitions
| Transition | Trigger | Condition | Action |
|---|---|---|---|
| A | ieReceiveMessage | Process received messages |
10.2 Protocol
10.2.1 Incoming Message Set
| # | ID | Message |
|---|---|---|
| 1 |
H:0x00000001 L: 0x00000214 |
Query Velocity Configuration |
| 2 |
H:0x00000001 L: 0x00000215 |
Set Velocity Configuration |
10.2.2 Outgoing Message Set
| # | ID | Message |
|---|---|---|
| 1 |
H:0x00000001 L: 0x00000216 |
Report Velocity Configuration |
10.3 Parameters
-
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving velocity configuration updates, default=0.5.
10.4 Data
Get:
- location=velocityConfiguration, type=VelocityConfigurationRec