execution.uuv.control

Class HoverController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.HoverController

public class HoverController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	hoverHeading heading uuv is to hold while hovering
protected double	maxHeadingError acceptable heading error to consider hoverpoint success

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
HoverController(UuvExecution execution) Creates a new instance of HoverController

Method Summary

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

Field Detail

hoverHeading

protected double hoverHeading

heading uuv is to hold while hovering

maxHeadingError

protected final double maxHeadingError

acceptable heading error to consider hoverpoint success

See Also:

Constant Field Values

Constructor Detail

HoverController

public HoverController(UuvExecution execution)

Creates a new instance of HoverController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for hover control

Specified by:

computeControls in class UuvController