Skip to content

PrimitiveDriver

Description

The Primitive Driver allows for basic platform mobility. This service does not imply any particular platform type such as tracked or wheeled, but describes mobility in six degrees of freedom using a percent of available effort in each direction. Additionally, no power plant (gasoline, diesel, or battery) is implied and the service functions strictly in an open loop manner, i.e., a velocity is not commanded or held since that requires a speed sensor. The service definition makes no assertion about the preventative actions that must be taken to avoid unintended consequences, such as rolling on an incline when given a zero propulsive and zero resistive effort. Note that the specific actuator commands are not defined by JAUS. This service uses “effort” as a relative measure of the amount of drive power. This measure is intentionally kept agnostic of the underlying control system for portability across hardware types. As a result, the implementation of an “effort” driver may map the request to a percent of maximum current of an electric motor, fluid pressure of a hydraulic system, duty-cycle of a pulse-width modulated controller, or position of a control lever. These examples are meant to be illustrative; the actual mapping is not restricted by JAUS, so long as it can be expressed as a percent of some maximum.

Messages

The PrimitiveDriver service uses the following messages.

Internal Events

  • None