DepthController (Autonomous Unmanned Vehicle (AUV) Workbench Documentation)

java.lang.Object
- execution.VehicleController
- - execution.uuv.control.UuvController
  - - execution.uuv.control.DepthController

Direct Known Subclasses:

LQRDepthController, SlidingModeDepthController
```
public class DepthController
extends UuvController
```
File: DepthController.java Author(s): Duane Davis and David Gassier Date: 19 April 2004 Revised: 03 October 2006
Description: Controller for setting auv fore and aft plane and vertical thrusters in all control modes except open loop

Version:

$Id: DepthController.java 9109 2015-07-29 22:39:46Z brutzman $

Author:

Duane Davis and David Gassier

Field Summary

Fields
Modifier and Type	Field and Description
`protected boolean`	`altitudeControl` true if depth control is based on altitude above the bottom (as opposed to depth)
`protected double`	`ballastCommand` ballast command setting
`protected double`	`bowPlaneCommand` commanded bow plane setting
`protected boolean`	`depthControlReset` true if a new depth was specified this loop
`protected double`	`GLIDER_DEPTH_MAXIMUM`
`protected double`	`GLIDER_DEPTH_MINIMUM` GLIDER DEPTHCONTROL CONSTANTS
`protected double`	`GLIDER_PITCH_MAXIMUM`
`protected double`	`GLIDER_PITCH_MINIMUM`
`protected boolean`	`openLoopDepth` true if planes and/or vertical thrusters are being manually controlled
`protected double`	`sternPlaneCommand` commanded stern plane setting

Constructor Summary

Constructors
Constructor and Description

DepthController(UuvExecution execution)
Creates a new instance of DepthController

Constructors
Constructor and Description
`DepthController(UuvExecution execution)` Creates a new instance of DepthController

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`protected void`	`computeBallast()`
`void`	`computeControls()` Computes plane and vertical thruster control settings for depth control
`protected void`	`computePlanes()` Computes settings for bow and stern planes
`double`	`getBallastCommand()`
`double`	`getBowPlaneCommand()`
`double`	`getBowVerticalThrusterCommand()`
`void`	`getGpsFix()` Requires the vehicle to surface and obtain a GPS fix Surfaces vehicle for 30 seconds plus a 3 seconds per meter surface rate
`double`	`getSternPlaneCommand()`
`double`	`getSternVerticalThrusterCommand()`
`double`	`getThetaCommand()`
`double`	`getZCommand()`
`void`	`readControls()` read uuv controls from an external source, default implementation is to compute them
`void`	`setControls()` Sets the vertical thrusters, bow planes and stern planes according to the computed values Overrides the parent class method to effect depth rather than horizontal relevant controls

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - GLIDER_DEPTH_MINIMUM
```
protected final double GLIDER_DEPTH_MINIMUM
```
    GLIDER DEPTHCONTROL CONSTANTS
    
    See Also:
    
    Constant Field Values
  - GLIDER_DEPTH_MAXIMUM
```
protected final double GLIDER_DEPTH_MAXIMUM
```
    See Also:
    
    Constant Field Values
  - GLIDER_PITCH_MAXIMUM
```
protected final double GLIDER_PITCH_MAXIMUM
```
    See Also:
    
    Constant Field Values
  - GLIDER_PITCH_MINIMUM
```
protected final double GLIDER_PITCH_MINIMUM
```
    See Also:
    
    Constant Field Values
  - depthControlReset
```
protected boolean depthControlReset
```
    true if a new depth was specified this loop
  - altitudeControl
```
protected boolean altitudeControl
```
    true if depth control is based on altitude above the bottom (as opposed to depth)
  - openLoopDepth
```
protected boolean openLoopDepth
```
    true if planes and/or vertical thrusters are being manually controlled
  - ballastCommand
```
protected double ballastCommand
```
    ballast command setting
  - bowPlaneCommand
```
protected double bowPlaneCommand
```
    commanded bow plane setting
  - sternPlaneCommand
```
protected double sternPlaneCommand
```
    commanded stern plane setting
- Constructor Detail
  - DepthController
```
public DepthController(UuvExecution execution)
```
    Creates a new instance of DepthController
    
    Parameters:
    
    execution - UuvExecution reference to main class of AUV
- Method Detail
  - setControls
```
public void setControls()
```
    Sets the vertical thrusters, bow planes and stern planes according to the computed values Overrides the parent class method to effect depth rather than horizontal relevant controls
    
    Overrides:
    
    setControls in class UuvController
  - readControls
```
public void readControls()
```
    Description copied from class: UuvController
    
    read uuv controls from an external source, default implementation is to compute them
    
    Overrides:
    
    readControls in class UuvController
  - computeControls
```
public void computeControls()
```
    Computes plane and vertical thruster control settings for depth control
    
    Specified by:
    
    computeControls in class UuvController
  - computePlanes
```
protected void computePlanes()
```
    Computes settings for bow and stern planes
  - getBowPlaneCommand
```
public double getBowPlaneCommand()
```
    Returns:
    
    Returns the bowPlaneCommand.
  - getBowVerticalThrusterCommand
```
public double getBowVerticalThrusterCommand()
```
    Returns:
    
    Returns the bowVerticalThrusterCommand.
  - getSternPlaneCommand
```
public double getSternPlaneCommand()
```
    Returns:
    
    Returns the sternPlaneCommand.
  - getSternVerticalThrusterCommand
```
public double getSternVerticalThrusterCommand()
```
    Returns:
    
    Returns the sternVerticalThrusterCommand.
  - getThetaCommand
```
public double getThetaCommand()
```
    Overrides:
    
    getThetaCommand in class UuvController
    
    Returns:
    
    Returns the thetaCommand.
  - getZCommand
```
public double getZCommand()
```
    Returns:
    
    Returns the zCommand.
  - computeBallast
```
protected void computeBallast()
```
  - getBallastCommand
```
public double getBallastCommand()
```
  - getGpsFix
```
public void getGpsFix()
```
    Requires the vehicle to surface and obtain a GPS fix Surfaces vehicle for 30 seconds plus a 3 seconds per meter surface rate

Class DepthController

Field Summary

Fields inherited from class execution.uuv.control.UuvController

Constructor Summary

Method Summary

Methods inherited from class execution.uuv.control.UuvController

Methods inherited from class java.lang.Object

Field Detail

GLIDER_DEPTH_MINIMUM

GLIDER_DEPTH_MAXIMUM

GLIDER_PITCH_MAXIMUM

GLIDER_PITCH_MINIMUM

depthControlReset

altitudeControl

openLoopDepth

ballastCommand

bowPlaneCommand

sternPlaneCommand

Constructor Detail

DepthController

Method Detail

setControls

readControls

computeControls

computePlanes

getBowPlaneCommand

getBowVerticalThrusterCommand

getSternPlaneCommand

getSternVerticalThrusterCommand

getThetaCommand

getZCommand

computeBallast

getBallastCommand

getGpsFix