PanTiltJointVelocityDriver

• URI: urn:jaus:jss:manipulator:PanTiltJointVelocityDriver
• Version: 2.0
• Inherits From: urn:jaus:jss:core:Management v1.1

Description

The function of The Pan Tilt Joint Velocity Driver is to perform closed-loop joint velocity control. The input is the desired instantaneous desired joint velocities for the pan tilt mechanism. It is assumed that the pan tilt mechanism begins motion immediately after receiving the Set Pan Tilt Joint Velocity message. To ensure backward compatibility with 1.0 implementations of this service, it is recommended that this service be co-located on the same component as a Pan Tilt Specification Service and a Pan Tilt Motion Profile Service.

Messages

The PanTiltJointVelocityDriver service uses the following messages.

Input

• 0x0623 - SetPanTiltJointVelocity
• 0x2631 - QueryCommandedPanTiltJointVelocity

Output

• 0x4631 - ReportCommandedPanTiltJointVelocity

Internal Events

• None