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demo component

Ports

Mobile (out)

Data structure

  • struct ::demo::state Mobile

    • double position

    • double speed

Services

SetSpeed (attribute)

Inputs

  • enum ::demo::speed speedRef (default "::demo::SLOW") Mobile speed ∈ { SLOW, FAST }
Throws

  • exception ::demo::INVALID_SPEED

To change speed

GetSpeed (attribute)

Outputs

  • enum ::demo::speed speedRef Mobile speed ∈ { SLOW, FAST }

To get current speed value

Stop (function)

Context

Stops motion and interrupts all motion requests

MoveDistance (activity)

Inputs

  • double distRef (default "0") Distance in m
Throws

  • exception ::demo::TOO_FAR_AWAY

    • double overshoot
Context

Move of the given distance

GotoPosition (activity)

Inputs

  • double posRef (default "0") Goto position in m
Throws

  • exception ::demo::TOO_FAR_AWAY

    • double overshoot
Context

Move to the given position

Monitor (activity)

Inputs

  • double monitor (default "0") Monitored absolute position in m
Outputs

  • double position
Throws

  • exception ::demo::TOO_FAR_AWAY

    • double overshoot
Context

  • In task motion (frequency 2.5 Hz)

Monitor the passage on the given position

Tasks

motion

Context