execution.uuv.control

Class RecoveryController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.RecoveryController

public class RecoveryController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected boolean	newRecoveryCommand true if a new recovery command has been received
protected double	recoveryRange range from current position to final recovery point

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
RecoveryController(UuvExecution execution) Creates a new instance of RecoveryController

Method Summary

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

newRecoveryCommand

protected boolean newRecoveryCommand

true if a new recovery command has been received

recoveryRange

protected double recoveryRange

range from current position to final recovery point

Constructor Detail

RecoveryController

public RecoveryController(UuvExecution execution)

Creates a new instance of RecoveryController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for recovery control

Specified by:

computeControls in class UuvController