execution.ugv.control

Class UgvController

java.lang.Object

execution.VehicleController

execution.ugv.control.UgvController

Direct Known Subclasses:

OpenLoopController, WaypointController

public abstract class UgvController
extends VehicleController

Abstract class for implementing specific UGV control modes

Author:

dtdavi1

Field Summary

Fields

Modifier and Type	Field and Description
protected double	alongTrackRange along track range remaining to reach goal point
protected boolean	closedLoopSpeed set to true if speed is commanded as MPS or knots (false means trackSpeed is directly controlled)
protected double	commandedSpeed Commanded speed in MPS (if closed-loop speed is specified)
protected boolean	controlledPsi true if heading is automatically controlled
protected boolean	correctToTrack set to true if waypoint will follow a specified track to the waypoint (false is continuous to)
protected double	crossTrackError lateral displacement from a commanded track
protected double	leftTrackCommand commanded speed of the left track in meters per second
protected double	maxTrackDif Used to make sure the track commands don't cause too high a turn rate
protected double	offTrackAngleDegrees angle computed from arc tangent of alongTrackRange and crossTrackError
protected double	psiCommand commanded heading -- may or may not be relevant for individual inheriting control modes
protected double	rightTrackCommand commanded speed of the right track in meters per second
protected UgvExecution	ugvExecution reference to main class of this ugv

Constructor Summary

Constructors

Constructor and Description
UgvController(UgvExecution execution) Creates a new instance of Controller

Method Summary

Modifier and Type	Method and Description
abstract void	computeControls() computes ugvExecution controls based on type of controller and current state/command
protected void	computeControls(double psiError) Used by all of the controllers to compute left and right track settings when heading is being controlled explicitly
void	setControls() uses the computed control settings to actually set the vehicle's controls
void	setOpenLoopPsi() Sets a new open-loop heading
void	setPsiCommand(double newPsi) Sets a new closed-loop heading
void	setSpeed(double newSpeed) Sets a new closed-loop speed
void	setTrackSpeed(double newSpeed) Sets a new open-loop track speed
void	setTrackSpeed(double newLeftTrackSpeed, double newRightTrackSpeed) Sets a new open-loop track speed
protected void	updateCrossTrackError() Determines how far left or right of intended track the vehicle is and modifies the heading command accordingly

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

ugvExecution

protected UgvExecution ugvExecution

reference to main class of this ugv

leftTrackCommand

protected double leftTrackCommand

commanded speed of the left track in meters per second

rightTrackCommand

protected double rightTrackCommand

commanded speed of the right track in meters per second

controlledPsi

protected boolean controlledPsi

true if heading is automatically controlled

psiCommand

protected double psiCommand

commanded heading -- may or may not be relevant for individual inheriting control modes

crossTrackError

protected double crossTrackError

lateral displacement from a commanded track

alongTrackRange

protected double alongTrackRange

along track range remaining to reach goal point

offTrackAngleDegrees

protected double offTrackAngleDegrees

angle computed from arc tangent of alongTrackRange and crossTrackError

correctToTrack

protected boolean correctToTrack

set to true if waypoint will follow a specified track to the waypoint (false is continuous to)

closedLoopSpeed

protected boolean closedLoopSpeed

set to true if speed is commanded as MPS or knots (false means trackSpeed is directly controlled)

commandedSpeed

protected double commandedSpeed

Commanded speed in MPS (if closed-loop speed is specified)

maxTrackDif

protected double maxTrackDif

Used to make sure the track commands don't cause too high a turn rate

Constructor Detail

UgvController

public UgvController(UgvExecution execution)

Creates a new instance of Controller

Parameters:

execution - instance of TrackedUgvExecution

Method Detail

setSpeed

public void setSpeed(double newSpeed)

Sets a new closed-loop speed

Parameters:

newSpeed -

setTrackSpeed

public void setTrackSpeed(double newSpeed)

Sets a new open-loop track speed

Parameters:

newSpeed -

setTrackSpeed

public void setTrackSpeed(double newLeftTrackSpeed,
                          double newRightTrackSpeed)

Sets a new open-loop track speed

Parameters:

newLeftTrackSpeed -

newRightTrackSpeed -

setPsiCommand

public void setPsiCommand(double newPsi)

Sets a new closed-loop heading

Parameters:

newPsi -

setOpenLoopPsi

public void setOpenLoopPsi()

Sets a new open-loop heading

computeControls

public abstract void computeControls()

computes ugvExecution controls based on type of controller and current state/command

updateCrossTrackError

protected void updateCrossTrackError()

Determines how far left or right of intended track the vehicle is and modifies the heading command accordingly

computeControls

protected void computeControls(double psiError)

Used by all of the controllers to compute left and right track settings when heading is being controlled explicitly

Parameters:

psiError -

setControls

public void setControls()

uses the computed control settings to actually set the vehicle's controls