execution.uuv.control

Class OpenLoopController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.OpenLoopController

public class OpenLoopController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	openLoopHeading set to false for automatic heading control (open loop props only)

Fields inherited from class execution.uuv.control.UuvController

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for open loop (manual) 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

openLoopHeading

protected boolean openLoopHeading

set to false for automatic heading control (open loop props only)

Constructor Detail

OpenLoopController

public OpenLoopController(UuvExecution execution)

Creates a new instance of OpenLoopController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for open loop (manual) control

Specified by:

computeControls in class UuvController