execution.uuv.control

Class HomingController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.HomingController

public class HomingController
extends UuvController

Author:

dtdavis

Field Summary

Fields inherited from class execution.uuv.control.UuvController

alongTrackRange, bowLateralThrusterCommand, bowVerticalThrusterCommand, correctToTrack, crossTrackError, depthError, depthErrorIntegral, depthPidTime, MAXDEPTHERROR, offTrackAngleDegrees, openLoopHeading, pdOnlyTime, portPropellerCommand, psiCommand, psiError, rudderCommand, speedControlReset, speedError, stbdPropellerCommand, sternLateralThrusterCommand, sternVerticalThrusterCommand, thetaCommand, THRUSTCONVERSION, turningRpm, uuvExecution, zCommand

Constructor Summary

Constructors

Constructor and Description
HomingController(UuvExecution execution) Creates a new instance of HomingController

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for homing control

Methods inherited from class execution.uuv.control.UuvController

adjustPropellersForSteeringIfNoRudders, checkRudderAvailable, computeLateralThrusterCommands, computePropellerCommands, computeRudderCommands, computeVerticalThrusterCommands, getBowLateralThrusterCommand, getCrossTrackError, getPortPropellerCommand, getPsiCommand, getRudderCommand, getSpeedCommand, getStbdPropellerCommand, getSternLateralThrusterCommand, getThetaCommand, isClosedLoopSpeed, readControls, setCommandedSpeed, setControls, setPropellersRPM, unsetClosedLoopSpeed, updateCrossTrackError

Methods inherited from class java.lang.Object

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

Constructor Detail

HomingController

public HomingController(UuvExecution execution)

Creates a new instance of HomingController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for homing control

Specified by:

computeControls in class UuvController