execution.ugv.control

Class UgvControllers

java.lang.Object

execution.ControllerGroup

execution.ugv.control.UgvControllers

All Implemented Interfaces:

Iterable<VehicleController>

public class UgvControllers
extends ControllerGroup

Field Summary

Fields

Modifier and Type	Field and Description
static int	LOITERCONTROL
LoiterController	loiterController
static int	OPENLOOPCONTROL
OpenLoopController	openLoopController
static int	WAYPOINTCONTROL
WaypointController	waypointController

Constructor Summary

Constructors

Constructor and Description
UgvControllers(UgvExecution execution) Creates a new UgvControllers object

Method Summary

Modifier and Type	Method and Description
void	computeControls()
int	getCurrentControlMode()
VehicleController	getCurrentManeuveringController() Provide current primary controller for maneuvering forward/backward/laterally.
double	getLeftTrackSpeed() Returns commanded left track speed
double	getPsi() Returns commanded heading
double	getRightTrackSpeed() Returns commanded left track speed
double	getSpeed() Returns commanded speed
boolean	isClosedLoopSpeed() Returns true if closed loop speed is commanded
void	setClosedLoopSpeed(double newSpeed) Resets the closed loop speed command for all of the controllers
void	setCommandedHeading(double newPsi) Resets the open loop speed command for all of the controllers
void	setControls()
void	setCorrectToTrack(boolean setting) Sets the waypoint controller and loiter controller to correct to track (or not)
void	setCurrentControlMode(int newMode)
void	setCurrentManeuveringController(ControllerType typ) Set the current primary controller for maneuvering forward/backward/laterally.
void	setNewWaypoint() Sets the waypoint controller and loiter controller to correct to track (or not)
void	setOpenLoopTrackSpeed(double newLeftSpeed, double newRightSpeed) Resets the open loop speed command for all of the controllers
void	setPsiCommand(double newPsi) Resets the commanded heading
void	setTrackSpeed(double newSpeed) Resets the open loop speed command for all of the controllers

Methods inherited from class execution.ControllerGroup

iterator

Methods inherited from class java.lang.Object

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

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Field Detail

waypointController

public WaypointController waypointController

openLoopController

public OpenLoopController openLoopController

loiterController

public LoiterController loiterController

WAYPOINTCONTROL

public static final int WAYPOINTCONTROL

See Also:

Constant Field Values

OPENLOOPCONTROL

public static final int OPENLOOPCONTROL

See Also:

Constant Field Values

LOITERCONTROL

public static final int LOITERCONTROL

See Also:

Constant Field Values

Constructor Detail

UgvControllers

public UgvControllers(UgvExecution execution)

Creates a new UgvControllers object

Parameters:

execution - reference to the vehicle to whom the controllers belong

Method Detail

getCurrentManeuveringController

public VehicleController getCurrentManeuveringController()

Description copied from class: ControllerGroup

Provide current primary controller for maneuvering forward/backward/laterally. Vertical depth/altitude controllers are usually not included in this selection.

Specified by:

getCurrentManeuveringController in class ControllerGroup

computeControls

public void computeControls()

setControls

public void setControls()

setCurrentManeuveringController

public void setCurrentManeuveringController(ControllerType typ)

Description copied from class: ControllerGroup

Set the current primary controller for maneuvering forward/backward/laterally. Vertical depth/altitude controllers are usually not included in this selection.

Specified by:

setCurrentManeuveringController in class ControllerGroup

getCurrentControlMode

public int getCurrentControlMode()

setCurrentControlMode

public void setCurrentControlMode(int newMode)

setPsiCommand

public void setPsiCommand(double newPsi)

Resets the commanded heading

Parameters:

newPsi -

setClosedLoopSpeed

public void setClosedLoopSpeed(double newSpeed)

Resets the closed loop speed command for all of the controllers

Parameters:

newSpeed -

setTrackSpeed

public void setTrackSpeed(double newSpeed)

Resets the open loop speed command for all of the controllers

Parameters:

newSpeed - speed to be used for both tracks

isClosedLoopSpeed

public boolean isClosedLoopSpeed()

Returns true if closed loop speed is commanded

getSpeed

public double getSpeed()

Returns commanded speed

getPsi

public double getPsi()

Returns commanded heading

getLeftTrackSpeed

public double getLeftTrackSpeed()

Returns commanded left track speed

getRightTrackSpeed

public double getRightTrackSpeed()

Returns commanded left track speed

setOpenLoopTrackSpeed

public void setOpenLoopTrackSpeed(double newLeftSpeed,
                                  double newRightSpeed)

Resets the open loop speed command for all of the controllers

Parameters:

newLeftSpeed - speed to be used for the left track

newRightSpeed - speed to be used for the right track

setCommandedHeading

public void setCommandedHeading(double newPsi)

Resets the open loop speed command for all of the controllers

Parameters:

newPsi - new heading to maintain (degrees)

setCorrectToTrack

public void setCorrectToTrack(boolean setting)

Sets the waypoint controller and loiter controller to correct to track (or not)

Parameters:

setting -

setNewWaypoint

public void setNewWaypoint()

Sets the waypoint controller and loiter controller to correct to track (or not)