execution.uuv.control

Class LateralController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.LateralController

public class LateralController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	openLoopLateral
protected double	speedCommand commanded lateral speed

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
LateralController(UuvExecution execution) Creates a new instance of LateralController

Method Summary

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

speedCommand

protected double speedCommand

commanded lateral speed

openLoopLateral

protected boolean openLoopLateral

Constructor Detail

LateralController

public LateralController(UuvExecution execution)

Creates a new instance of LateralController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for lateral control

Specified by:

computeControls in class UuvController