execution.uuv.control

Class RotateController

java.lang.Object

execution.VehicleController

execution.uuv.control.UuvController

execution.uuv.control.RotateController

public class RotateController
extends UuvController

Author:

dtdavis

Field Summary

Fields

Modifier and Type	Field and Description
protected double	speedCommand commanded speed of rotation (unit free)

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
RotateController(UuvExecution execution) Creates a new instance of RotateController

Method Summary

Modifier and Type	Method and Description
void	computeControls() Computes control settings for rotate 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 speed of rotation (unit free)

Constructor Detail

RotateController

public RotateController(UuvExecution execution)

Creates a new instance of RotateController

Parameters:

execution - UuvExecution reference to main class of AUV

Method Detail

computeControls

public void computeControls()

Computes control settings for rotate control

Specified by:

computeControls in class UuvController