As shown in Table 3-2, the "Set Auxiliary Actuators" command message has eight

assignable auxiliary actuators command fields. Following this convention, the front

auxiliary track of the Andros robot is denoted as "Aux Actuator 5" and the rear auxiliary

track is denoted as "Aux Actuator 6." These fields were chosen as the auxiliary tracks of

the Andros may be moved to a specific angle through the use of the Auxiliary Track

Position System, described in Chapter 2.3.

 The behavioral controls of the IPD are used to control the motion of the Andros on a

set of stairs, both ascending and descending. The ascending motion behavior has been

mapped to "Set Behavior 1" with the descending motion mapped to "Set Behavior 2."

Both behaviors use the same the control data variables, which have been assigned to the

data fields shown in Table 3-6.



Table 3-6: "Set Behavior" 1 and 2 control data
Field # Name Description
 2 Behavioral Parameter 1 Rise of a Single Step (in.)
 3 Behavioral Parameter 2 Run of a Single Step (in.)
 4 Behavioral Parameter 3 Total Number of Steps
 5 Behavioral Parameter 4 Not Used
 6 Behavioral Parameter 5 Stair Heading (degrees)
 7 Behavioral Parameter 6 Not Used
 8 Behavioral Parameter 7 Not Used
 9 Behavioral Parameter 8 Not Used


3.2.3 Program Logic

 Figure 3-2 depicts the logic flow diagram of the Intelligent Primitive Driver upon

startup. This diagram is only representative of the Intelligent Primitive Driver and not

the JAUS system on the whole. The receipt and execution of JAUS commands by

standard components have been omitted because, for these instances, the controller