| RtcProfile | |||
| ID | RTC:AIST INVENT:Controller:PanTiltControl:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | PanTiltControl | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Controller | ||
| Description | PanTilt Control | ||
| ExecutionRate | 1000.0 | ||
| ExecutionType | ExtTrigExecutionContext | ||
| MaxInstances | 10 | ||
| Vendor | AIST INVENT | ||
| Version | 4.0.0 | ||
| CreationDate | 2010-03-02T10:57:10.619+09:00 | ||
| UpdateDate | 2010-03-02T13:37:51.351+09:00 | ||
| language | |||
| doc_basic | |||
| reference | |||
| license | Copyright (c) 2008, National Institute of Advanced Industrial Science and Technology (AIST). All rights reserved. This program is made available under the terms of the Eclipse Public License v1.0 which accompanies this distribution, and is available at http://www.eclipse.org/legal/epl-v10.html | ||
| creator | N.Takekawa (takekawa-777@aist.go.jp) | ||
| algorithm | PD control of pantilt | ||
| inout | IN : Angle OUT : Torque |
||
| description | PanTilt Control | ||
| actions | |||
| action_status/doc_action | |||
| OnInitialize | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Initialization of configuration parameter | ||
| OnFinalize | implemented | false | |
| OnStartup | implemented | false | |
| OnShutdown | implemented | false | |
| OnActivated | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Initialization of each variable Debugging file open |
||
| OnDeactivated | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Debugging file close | ||
| OnAborting | implemented | false | |
| OnError | implemented | false | |
| OnReset | implemented | false | |
| OnExecute | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | Torque control of pantilt | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | PgPan | |
| unit | - | ||
| defaultValue | 5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | - | ||
| description | Pan P-Gain | ||
| defaultValue | 5 | ||
| dataname | PgPan | ||
| 2 | name | DgPan | |
| unit | - | ||
| defaultValue | 2 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | - | ||
| description | Pan D-Gain | ||
| defaultValue | 2 | ||
| dataname | DgPan | ||
| 3 | name | PgTilt | |
| unit | - | ||
| defaultValue | 5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | - | ||
| description | Tilt P-Gain | ||
| defaultValue | 5 | ||
| dataname | PgTilt | ||
| 4 | name | DgTilt | |
| unit | - | ||
| defaultValue | 2 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | - | ||
| description | Tilt D-Gain | ||
| defaultValue | 2 | ||
| dataname | DgTilt | ||
| 5 | name | PanVelocity | |
| unit | [rad/s] | ||
| defaultValue | 0.523598774 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | 0.0 - 6.283185287 | ||
| unit | [rad/s] | ||
| description | The maximum acceleration of pan control | ||
| defaultValue | 0.523598774 | ||
| dataname | PanVelocity | ||
| 6 | name | TiltVelocity | |
| unit | [rad/s] | ||
| defaultValue | 0.523598774 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | 0.0 - 6.283185287 | ||
| unit | [rad/s] | ||
| description | The maximum acceleration of tilt control | ||
| defaultValue | 0.523598774 | ||
| dataname | TiltVelocity | ||
| dataports/doc_dataport | |||
| 1 | portType | DataInPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | InTargetPanTiltAngle | ||
| position | LEFT | ||
| variableName | InTargetPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Input of the PanTilt angle of target | ||
| 2 | portType | DataInPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | InCurrentPanTiltAngle | ||
| position | LEFT | ||
| variableName | InCurrentPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Input of the PanTilt angle of Simulation | ||
| 3 | portType | DataOutPort | |
| unit | [rad] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | OutCurrentPanTiltAngle | ||
| position | RIGHT | ||
| variableName | OutCurrentPanTiltAngle | ||
| operation | |||
| occerrence | |||
| unit | [rad] | ||
| semantics | [0] : Pan angle [1] : Tilt angle |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Output of the PanTilt angle | ||
| 4 | portType | DataOutPort | |
| unit | [Nm] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | OutTorque | ||
| position | RIGHT | ||
| variableName | OutTorque | ||
| operation | |||
| occerrence | |||
| unit | [Nm] | ||
| semantics | [0] : Pan torque [1] : Tilt torque |
||
| number | 2 | ||
| type | TimedDoubleSeq | ||
| description | Output of the Torque angle | ||