The Box Limit Task

Description

Publishes

• EndFlags
• EventFlags

Subscribes

• StartFlags
• NAV_X
• NAV_Y
• NAV_YAW

Configuration Block

• Common Task Parameters

• Thrust

  • Syntax: Thrust = Thrust[0-100]
  • Meaning: Set Thrust of operation
  • Example: Thrust = 10 go at ten percent throttle.

• Location

  • Syntax: Location = X,Y (m)
  • Meaning: Location about which to orbit
  • Example: Location = 50,100 orbit 50,100

• Direction

  • Syntax: Direction = CW/CCW
  • Meaning: Set direction of operation
  • Example: Thrust = CW go clockwise

• Radius

  • Syntax: Radius = Radius (m)
  • Meaning: Set radius of orbit
  • Example: Radius = 100 orbit at 100m

• PosRadius

  • Syntax: PosRadius = PostionRadius (m)
  • Meaning: Set tolerance on individual waypoints make up orbit
  • Example: PosRadius = 10 get within 10m of each point

• TotalPos or Sides

  • Syntax: Sides = NumSides
  • Meaning: Set number of sides to orbit path
  • Example: Sides = 6 execute six side/ waypoints per orbit

• Repeat

  • Syntax: Repeat = NumRepetitions
  • Meaning: Set number orbits
  • Example: Repeat = 6 Orbit 6 times

Example Block

Task = Orbit
{
	Name = ORBIT1
	Priority = 3
	InitialState = OFF
	TimeOut = 300
	FinishFlag = EndMission
	StartFlag = WP1Done
	Thrust = 40
	Location = 20,20,0
	Direction = CCW
	Radius = 40	
	Repeat = 2
	TotalPos = 6
	PosRadius = 10
}

The MOOS © P. Newman 2001-2002